*v 0007 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *e code=0000 elementURI="depth" type=04 *e code=0001 elementURI="depth_rate" type=04 *e code=0002 elementURI="direction_of_sea_water_velocity" type=04 *e code=0003 elementURI="distance_from_shore" type=04 *e code=0004 elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=0005 elementURI="downward_sea_water_velocity" type=04 *e code=0006 elementURI="eastward_sea_water_velocity" type=04 *e code=0007 elementURI="grid_latitude" type=04 *e code=0008 elementURI="grid_longitude" type=04 *e code=0009 elementURI="height_above_sea_floor" type=04 *e code=000A elementURI="homing_target_range" type=04 *e code=000B elementURI="homing_target_azimuth" type=04 *e code=000C elementURI="homing_target_elevation" type=04 *e code=000D elementURI="homing_target_heading" type=04 *e code=000E elementURI="northward_sea_water_velocity" type=04 *e code=000F elementURI="latitude" type=04 *e code=0010 elementURI="latitude_fix" type=04 *e code=0011 elementURI="longitude" type=04 *e code=0012 elementURI="longitude_fix" type=04 *e code=0013 elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=0014 elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=0015 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0016 elementURI="platform_average_current" type=04 *e code=0017 elementURI="platform_battery_charge" type=04 *e code=0018 elementURI="platform_battery_charge_usage" type=04 *e code=0019 elementURI="platform_battery_energy_usage" type=04 *e code=001A elementURI="platform_battery_voltage" type=04 *e code=001B elementURI="platform_battery_fully_charged" type=04 *e code=001C elementURI="platform_battery_discharging" type=04 *e code=001D elementURI="platform_buoyancy_position" type=04 *e code=001E elementURI="platform_communications" type=04 *e code=001F elementURI="platform_conversation" type=04 *e code=0020 elementURI="platform_course" type=04 *e code=0021 elementURI="platform_distance_wrt_ground" type=04 *e code=0022 elementURI="platform_distance_wrt_sea_water" type=04 *e code=0023 elementURI="platform_elevator_angle" type=04 *e code=0024 elementURI="platform_fault" type=04 *e code=0025 elementURI="platform_fault_leak" type=04 *e code=0026 elementURI="platform_magnetic_orientation" type=04 *e code=0027 elementURI="platform_mass_position" type=04 *e code=0028 elementURI="platform_orientation" type=04 *e code=0029 elementURI="platform_pitch_angle" type=04 *e code=002A elementURI="platform_pitch_rate" type=04 *e code=002B elementURI="platform_pressure" type=04 *e code=002C elementURI="platform_propeller_rotation_rate" type=04 *e code=002D elementURI="platform_relative_humidity" type=04 *e code=002E elementURI="platform_roll_angle" type=04 *e code=002F elementURI="platform_roll_rate" type=04 *e code=0030 elementURI="platform_rudder_angle" type=04 *e code=0031 elementURI="platform_speed_wrt_ground" type=04 *e code=0032 elementURI="platform_speed_wrt_sea_water" type=04 *e code=0033 elementURI="platform_speed_wrt_propeller" type=04 *e code=0034 elementURI="platform_temperature" type=04 *e code=0035 elementURI="platform_x_sea_water_velocity" type=04 *e code=0036 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0037 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0038 elementURI="platform_x_velocity_current" type=04 *e code=0039 elementURI="platform_y_sea_water_velocity" type=04 *e code=003A elementURI="platform_y_velocity_wrt_ground" type=04 *e code=003B elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=003C elementURI="platform_y_velocity_current" type=04 *e code=003D elementURI="platform_yaw_angle" type=04 *e code=003E elementURI="platform_yaw_rate" type=04 *e code=003F elementURI="platform_z_sea_water_velocity" type=04 *e code=0040 elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0041 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0042 elementURI="platform_z_velocity_current" type=04 *e code=0043 elementURI="projection_x_coordinate" type=04 *e code=0044 elementURI="projection_y_coordinate" type=04 *e code=0045 elementURI="projection_zone" type=04 *e code=0046 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0047 elementURI="sea_water_density" type=04 *e code=0048 elementURI="sea_water_electrical_conductivity" type=04 *e code=0049 elementURI="sea_water_potential_density" type=04 *e code=004A elementURI="sea_water_potential_temperature" type=04 *e code=004B elementURI="sea_water_pressure" type=04 *e code=004C elementURI="sea_water_salinity" type=04 *e code=004D elementURI="sea_water_sigma_t" type=04 *e code=004E elementURI="sea_water_sigma_theta" type=04 *e code=004F elementURI="sea_water_speed" type=04 *e code=0050 elementURI="sea_water_temperature" type=04 *e code=0051 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0052 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0053 elementURI="time" type=04 *e code=0054 elementURI="time_fix" type=04 *e code=0055 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0056 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 *e code=0057 elementURI="volume_scattering_650_nm" type=04 *e code=0058 elementURI="volume_scattering_470_nm" type=04 FToN0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" joNDCreated PCaller Thread at 4033B4E0ƿkoNhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" loNDCreated PCaller Thread at 4036B4E0*n code=0007 name="CycleStarter" *e code=0059 elementURI="CycleStarter.time" type=00 *a code=0000 owner=0007 element=0059 universal=0053 unitName="second" type=1F size=0008 fl=01 *e code=005A elementURI="CycleStarter.loadAvg1Min" type=02 *a code=0001 owner=0007 element=005A universal=3FFF unitName="percent" type=0B size=0003 fl=05 ƿoNvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine" *e code=005B elementURI="IBIT.IBITRunning" type=00 *a code=0002 owner=0008 element=005B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=005C elementURI="CBIT.GFActive" type=00 *a code=0003 owner=0008 element=005C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0004 owner=0008 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=005D elementURI="CommandLine.platform_conversation" type=00 *a code=0005 owner=0008 element=005D universal=001F unitName="bool" type=02 size=0001 fl=05 ƿoNdComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" oNDCreated PCaller Thread at 4039B4E0*n code=000A name="logger" ƿoNZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" oNDCreated PCaller Thread at 403CB4E0NoN\Looking for Config files in directory: Config/NoNTOpening Config file at: Config/vehicle.cfg*n code=000C name="Config/vehicle" *e code=005E elementURI="Config/vehicle.name" type=00 *a code=0006 owner=000C element=005E universal=3FFF unitName="none" type=00 size=0006 fl=05 doNTethys*e code=005F elementURI="Config/vehicle.keyText" type=00 *a code=0007 owner=000C element=005F universal=3FFF unitName="none" type=00 size=0010 fl=05 toNTethysEncryption*e code=0060 elementURI="Config/vehicle.id" type=00 *a code=0008 owner=000C element=0060 universal=3FFF unitName="enum" type=1F size=0008 fl=05 oN*e code=0061 elementURI="Config/vehicle.kmlColor" type=00 *a code=0009 owner=000C element=0061 universal=3FFF unitName="none" type=00 size=0008 fl=05 oNff0055ff*e code=0062 elementURI="Config/vehicle.sendDataToShore" type=00 *a code=000A owner=000C element=0062 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN?*e code=0063 elementURI="Config/vehicle.Depth_Keller_card" type=00 *a code=000B owner=000C element=0063 universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadA0*e code=0064 elementURI="Config/vehicle.Depth_Keller_ad" type=00 *a code=000C owner=000C element=0064 universal=3FFF unitName="none" type=00 size=000E fl=05 Ŀ!oN/dev/mcp3553A0*e code=0065 elementURI="Config/vehicle.Depth_Keller_timeout" type=00 *a code=000D owner=000C element=0065 universal=3FFF unitName="millisecond" type=1F size=0008 fl=05 Կ#oN?*e code=0066 elementURI="Config/vehicle.Depth_Keller_vref" type=00 *a code=000E owner=000C element=0066 universal=3FFF unitName="volt" type=1F size=0008 fl=05 -oN@*e code=0067 elementURI="Config/vehicle.Depth_Keller_res" type=00 *a code=000F owner=000C element=0067 universal=3FFF unitName="bit" type=1F size=0008 fl=05 /oN@*e code=0068 elementURI="Config/vehicle.PAR_Licor_card" type=00 *a code=0010 owner=000C element=0068 universal=3FFF unitName="none" type=00 size=000B fl=05 0oN /dev/loadB0*e code=0069 elementURI="Config/vehicle.PAR_Licor_ad" type=00 *a code=0011 owner=000C element=0069 universal=3FFF unitName="none" type=00 size=000E fl=05 )AoN/dev/mcp3553B0*e code=006A elementURI="Config/vehicle.PAR_Licor_timeout" type=00 *a code=0012 owner=000C element=006A universal=3FFF unitName="millisecond" type=1F size=0008 fl=05 IBoN?*e code=006B elementURI="Config/vehicle.PAR_Licor_vref" type=00 *a code=0013 owner=000C element=006B universal=3FFF unitName="volt" type=1F size=0008 fl=05 iDoN@*e code=006C elementURI="Config/vehicle.PAR_Licor_res" type=00 *a code=0014 owner=000C element=006C universal=3FFF unitName="bit" type=1F size=0008 fl=05 JoN@*e code=006D elementURI="Config/vehicle.AHRS_sp3003D_card" type=00 *a code=0015 owner=000C element=006D universal=3FFF unitName="none" type=00 size=000B fl=05 LoN /dev/loadB7*e code=006E elementURI="Config/vehicle.AHRS_sp3003D_uart" type=00 *a code=0016 owner=000C element=006E universal=3FFF unitName="none" type=00 size=000A fl=05 NoN /dev/ttyB7*e code=006F elementURI="Config/vehicle.AHRS_sp3003D_baud" type=00 *a code=0017 owner=000C element=006F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 OoN@*e code=0070 elementURI="Config/vehicle.DVL_micro_card" type=00 *a code=0018 owner=000C element=0070 universal=3FFF unitName="none" type=00 size=000B fl=05 QoN /dev/loadB5*e code=0071 elementURI="Config/vehicle.DVL_micro_uart" type=00 *a code=0019 owner=000C element=0071 universal=3FFF unitName="none" type=00 size=000B fl=05 )SoN /dev/ttyTX1*e code=0072 elementURI="Config/vehicle.DVL_micro_baud" type=00 *a code=001A owner=000C element=0072 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IaoN @*e code=0073 elementURI="Config/vehicle.NAL9602_card" type=00 *a code=001B owner=000C element=0073 universal=3FFF unitName="none" type=00 size=000B fl=05 icoN /dev/loadA1*e code=0074 elementURI="Config/vehicle.NAL9602_uart" type=00 *a code=001C owner=000C element=0074 universal=3FFF unitName="none" type=00 size=000A fl=05 eoN /dev/ttyS2*e code=0075 elementURI="Config/vehicle.NAL9602_baud" type=00 *a code=001D owner=000C element=0075 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 goN@*e code=0076 elementURI="Config/vehicle.Radio_Freewave_card" type=00 *a code=001E owner=000C element=0076 universal=3FFF unitName="none" type=00 size=000B fl=05 ioN /dev/loadA2*e code=0077 elementURI="Config/vehicle.Radio_Freewave_uart" type=00 *a code=001F owner=000C element=0077 universal=3FFF unitName="none" type=00 size=000A fl=05 koN /dev/ttyS0*e code=0078 elementURI="Config/vehicle.Radio_Freewave_baud" type=00 *a code=0020 owner=000C element=0078 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 moN @*e code=0079 elementURI="Config/vehicle.ElevatorServo_card" type=00 *a code=0021 owner=000C element=0079 universal=3FFF unitName="none" type=00 size=000B fl=05 )ooN /dev/loadA6*e code=007A elementURI="Config/vehicle.ElevatorServo_uart" type=00 *a code=0022 owner=000C element=007A universal=3FFF unitName="none" type=00 size=000A fl=05 I}oN /dev/ttyA6*e code=007B elementURI="Config/vehicle.ElevatorServo_baud" type=00 *a code=0023 owner=000C element=007B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ioN@*e code=007C elementURI="Config/vehicle.RudderServo_card" type=00 *a code=0024 owner=000C element=007C universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadA5*e code=007D elementURI="Config/vehicle.RudderServo_uart" type=00 *a code=0025 owner=000C element=007D universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyA5*e code=007E elementURI="Config/vehicle.RudderServo_baud" type=00 *a code=0026 owner=000C element=007E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN@*e code=007F elementURI="Config/vehicle.ThrusterServo_card" type=00 *a code=0027 owner=000C element=007F universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadA7*e code=0080 elementURI="Config/vehicle.ThrusterServo_uart" type=00 *a code=0028 owner=000C element=0080 universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyA7*e code=0081 elementURI="Config/vehicle.ThrusterServo_baud" type=00 *a code=0029 owner=000C element=0081 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )oN@*e code=0082 elementURI="Config/vehicle.MassServo_card" type=00 *a code=002A owner=000C element=0082 universal=3FFF unitName="none" type=00 size=000B fl=05 IoN /dev/loadA3*e code=0083 elementURI="Config/vehicle.MassServo_uart" type=00 *a code=002B owner=000C element=0083 universal=3FFF unitName="none" type=00 size=000A fl=05 ioN /dev/ttyA3*e code=0084 elementURI="Config/vehicle.MassServo_baud" type=00 *a code=002C owner=000C element=0084 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN@*e code=0085 elementURI="Config/vehicle.BuoyancyServo_card" type=00 *a code=002D owner=000C element=0085 universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadA4*e code=0086 elementURI="Config/vehicle.BuoyancyServo_uart" type=00 *a code=002E owner=000C element=0086 universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyA4*e code=0087 elementURI="Config/vehicle.BuoyancyServo_baud" type=00 *a code=002F owner=000C element=0087 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN@*e code=0088 elementURI="Config/vehicle.AHRS_3DMGX3_card" type=00 *a code=0030 owner=000C element=0088 universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadB6*e code=0089 elementURI="Config/vehicle.AHRS_3DMGX3_uart" type=00 *a code=0031 owner=000C element=0089 universal=3FFF unitName="none" type=00 size=000A fl=05 )oN /dev/ttyB6*e code=008A elementURI="Config/vehicle.AHRS_3DMGX3_baud" type=00 *a code=0032 owner=000C element=008A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IoN @*e code=008B elementURI="Config/vehicle.CTD_NeilBrown_card" type=00 *a code=0033 owner=000C element=008B universal=3FFF unitName="none" type=00 size=000B fl=05 ioN /dev/loadB4*e code=008C elementURI="Config/vehicle.CTD_NeilBrown_uart" type=00 *a code=0034 owner=000C element=008C universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyB4*e code=008D elementURI="Config/vehicle.CTD_NeilBrown_baud" type=00 *a code=0035 owner=000C element=008D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN@*e code=008E elementURI="Config/vehicle.WetLabsBB2FL_card" type=00 *a code=0036 owner=000C element=008E universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadB3*e code=008F elementURI="Config/vehicle.WetLabsBB2FL_uart" type=00 *a code=0037 owner=000C element=008F universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyB3*e code=0090 elementURI="Config/vehicle.WetLabsBB2FL_baud" type=00 *a code=0038 owner=000C element=0090 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN@*e code=0091 elementURI="Config/vehicle.Aanderaa_O2_card" type=00 *a code=0039 owner=000C element=0091 universal=3FFF unitName="none" type=00 size=000B fl=05 )oN /dev/loadB2*e code=0092 elementURI="Config/vehicle.Aanderaa_O2_uart" type=00 *a code=003A owner=000C element=0092 universal=3FFF unitName="none" type=00 size=000A fl=05 I oN /dev/ttyB2*e code=0093 elementURI="Config/vehicle.Aanderaa_O2_baud" type=00 *a code=003B owner=000C element=0093 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ioN@*e code=0094 elementURI="Config/vehicle.Turbulence_NPS_card" type=00 *a code=003C owner=000C element=0094 universal=3FFF unitName="none" type=00 size=000B fl=05 oN /dev/loadB2*e code=0095 elementURI="Config/vehicle.Turbulence_NPS_uart" type=00 *a code=003D owner=000C element=0095 universal=3FFF unitName="none" type=00 size=000A fl=05 oN /dev/ttyS1*e code=0096 elementURI="Config/vehicle.Turbulence_NPS_baud" type=00 *a code=003E owner=000C element=0096 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oN @*e code=0097 elementURI="Config/vehicle.SCPI_card" type=00 *a code=003F owner=000C element=0097 universal=3FFF unitName="none" type=00 size=000B fl=05  oN /dev/loadB2*e code=0098 elementURI="Config/vehicle.SCPI_uart" type=00 *a code=0040 owner=000C element=0098 universal=3FFF unitName="none" type=00 size=000A fl=05 "oN /dev/ttyB2*e code=0099 elementURI="Config/vehicle.SCPI_baud" type=00 *a code=0041 owner=000C element=0099 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )0oN@*e code=009A elementURI="Config/vehicle.ISUS_card" type=00 *a code=0042 owner=000C element=009A universal=3FFF unitName="none" type=00 size=000B fl=05 I2oN /dev/loadB1*e code=009B elementURI="Config/vehicle.ISUS_uart" type=00 *a code=0043 owner=000C element=009B universal=3FFF unitName="none" type=00 size=000A fl=05 i3oN /dev/ttyB1*e code=009C elementURI="Config/vehicle.ISUS_baud" type=00 *a code=0044 owner=000C element=009C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 5oN@*e code=009D elementURI="Config/vehicle.DAT_card" type=00 *a code=0045 owner=000C element=009D universal=3FFF unitName="none" type=00 size=000B fl=05 7oN /dev/loadB1*e code=009E elementURI="Config/vehicle.DAT_uart" type=00 *a code=0046 owner=000C element=009E universal=3FFF unitName="none" type=00 size=000A fl=05 9oN /dev/ttyS1*e code=009F elementURI="Config/vehicle.DAT_baud" type=00 *a code=0047 owner=000C element=009F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 GoN@*e code=00A0 elementURI="Config/vehicle.Batt_Ocean_ServerA_uart" type=00 *a code=0048 owner=000C element=00A0 universal=3FFF unitName="none" type=00 size=000B fl=05 IoN /dev/ttyTX0*e code=00A1 elementURI="Config/vehicle.Batt_Ocean_ServerA_baud" type=00 *a code=0049 owner=000C element=00A1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ) KoN@*e code=00A2 elementURI="Config/vehicle.Batt_Ocean_ServerB_uart" type=00 *a code=004A owner=000C element=00A2 universal=3FFF unitName="none" type=00 size=000B fl=05 I MoN /dev/ttyTX2*e code=00A3 elementURI="Config/vehicle.Batt_Ocean_ServerB_baud" type=00 *a code=004B owner=000C element=00A3 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i OoN@*e code=00A4 elementURI="Config/vehicle.OnboardHumidity_ad" type=00 *a code=004C owner=000C element=00A4 universal=3FFF unitName="none" type=00 size=0010 fl=05 QoN/dev/adlpc32xx_0*e code=00A5 elementURI="Config/vehicle.OnboardHumidity_vref" type=00 *a code=004D owner=000C element=00A5 universal=3FFF unitName="volt" type=1F size=0008 fl=05 coN333333 @*e code=00A6 elementURI="Config/vehicle.OnboardHumidity_res" type=00 *a code=004E owner=000C element=00A6 universal=3FFF unitName="bit" type=1F size=0008 fl=05 eoN?*e code=00A7 elementURI="Config/vehicle.OnboardTemperature_ad" type=00 *a code=004F owner=000C element=00A7 universal=3FFF unitName="none" type=00 size=0010 fl=05 goN/dev/adlpc32xx_1*e code=00A8 elementURI="Config/vehicle.OnboardTemperature_vref" type=00 *a code=0050 owner=000C element=00A8 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ioN333333 @*e code=00A9 elementURI="Config/vehicle.OnboardTemperature_res" type=00 *a code=0051 owner=000C element=00A9 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ) koN?*e code=00AA elementURI="Config/vehicle.OnboardPressure_ad" type=00 *a code=0052 owner=000C element=00AA universal=3FFF unitName="none" type=00 size=0010 fl=05 I moN/dev/adlpc32xx_2*e code=00AB elementURI="Config/vehicle.OnboardPressure_vref" type=00 *a code=0053 owner=000C element=00AB universal=3FFF unitName="volt" type=1F size=0008 fl=05 i {oN333333 @*e code=00AC elementURI="Config/vehicle.OnboardPressure_res" type=00 *a code=0054 owner=000C element=00AC universal=3FFF unitName="bit" type=1F size=0008 fl=05 }oN?*e code=00AD elementURI="Config/vehicle.MainGroundfault_ad" type=00 *a code=0055 owner=000C element=00AD universal=3FFF unitName="none" type=00 size=000D fl=05 oN /dev/ad7888_0*e code=00AE elementURI="Config/vehicle.MainGroundfault_vref" type=00 *a code=0056 owner=000C element=00AE universal=3FFF unitName="volt" type=1F size=0008 fl=05 oN333333 @*e code=00AF elementURI="Config/vehicle.MainGroundfault_res" type=00 *a code=0057 owner=000C element=00AF universal=3FFF unitName="bit" type=1F size=0008 fl=05 oN?*e code=00B0 elementURI="Config/vehicle.secondaryBatteryCurrent_ad" type=00 *a code=0058 owner=000C element=00B0 universal=3FFF unitName="none" type=00 size=000D fl=05 oN /dev/ad7888_1*e code=00B1 elementURI="Config/vehicle.secondaryBatteryCurrent_vref" type=00 *a code=0059 owner=000C element=00B1 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ) oN333333 @*e code=00B2 elementURI="Config/vehicle.secondaryBatteryCurrent_res" type=00 *a code=005A owner=000C element=00B2 universal=3FFF unitName="bit" type=1F size=0008 fl=05 I oN?*e code=00B3 elementURI="Config/vehicle.emergencyBatteryCurrent_ad" type=00 *a code=005B owner=000C element=00B3 universal=3FFF unitName="none" type=00 size=000D fl=05 i oN /dev/ad7888_2*e code=00B4 elementURI="Config/vehicle.emergencyBatteryCurrent_vref" type=00 *a code=005C owner=000C element=00B4 universal=3FFF unitName="volt" type=1F size=0008 fl=05 oN333333 @*e code=00B5 elementURI="Config/vehicle.emergencyBatteryCurrent_res" type=00 *a code=005D owner=000C element=00B5 universal=3FFF unitName="bit" type=1F size=0008 fl=05 oN?*e code=00B6 elementURI="Config/vehicle.motherboard5VCurrent_ad" type=00 *a code=005E owner=000C element=00B6 universal=3FFF unitName="none" type=00 size=000D fl=05 oN /dev/ad7888_3*e code=00B7 elementURI="Config/vehicle.motherboard5VCurrent_vref" type=00 *a code=005F owner=000C element=00B7 universal=3FFF unitName="volt" type=1F size=0008 fl=05 oN333333 @*e code=00B8 elementURI="Config/vehicle.motherboard5VCurrent_res" type=00 *a code=0060 owner=000C element=00B8 universal=3FFF unitName="bit" type=1F size=0008 fl=05 oN?*e code=00B9 elementURI="Config/vehicle.motherboard3_15VCurrent_ad" type=00 *a code=0061 owner=000C element=00B9 universal=3FFF unitName="none" type=00 size=000D fl=05 ) oN /dev/ad7888_4*e code=00BA elementURI="Config/vehicle.motherboard3_15VCurrent_vref" type=00 *a code=0062 owner=000C element=00BA universal=3FFF unitName="volt" type=1F size=0008 fl=05 I oN333333 @*e code=00BB elementURI="Config/vehicle.motherboard3_15VCurrent_res" type=00 *a code=0063 owner=000C element=00BB universal=3FFF unitName="bit" type=1F size=0008 fl=05 i oN?*e code=00BC elementURI="Config/vehicle.motherboard3_3VCurrent_ad" type=00 *a code=0064 owner=000C element=00BC universal=3FFF unitName="none" type=00 size=000D fl=05 oN /dev/ad7888_5*e code=00BD elementURI="Config/vehicle.motherboard3_3VCurrent_vref" type=00 *a code=0065 owner=000C element=00BD universal=3FFF unitName="volt" type=1F size=0008 fl=05 oN333333 @*e code=00BE elementURI="Config/vehicle.motherboard3_3VCurrent_res" type=00 *a code=0066 owner=000C element=00BE universal=3FFF unitName="bit" type=1F size=0008 fl=05 oN?*e code=00BF elementURI="Config/vehicle.motherboard1_8VCurrent_ad" type=00 *a code=0067 owner=000C element=00BF universal=3FFF unitName="none" type=00 size=000D fl=05 oN /dev/ad7888_6*e code=00C0 elementURI="Config/vehicle.motherboard1_8VCurrent_vref" type=00 *a code=0068 owner=000C element=00C0 universal=3FFF unitName="volt" type=1F size=0008 fl=05 oN333333 @*e code=00C1 elementURI="Config/vehicle.motherboard1_8VCurrent_res" type=00 *a code=0069 owner=000C element=00C1 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ) oN?ƿoNNLoaded Config Component "Config/vehicleNoNROpening Config file at: Config/Sensor.cfg*n code=000D name="Config/Sensor" *e code=00C2 elementURI="Config/Sensor.AHRS_3DMGX3_enable" type=00 *a code=006A owner=000D element=00C2 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I oN*e code=00C3 elementURI="Config/Sensor.AHRS_3DMGX3_useHardware" type=00 *a code=006B owner=000D element=00C3 universal=3FFF unitName="bool" type=1F size=0008 fl=05 i oN*e code=00C4 elementURI="Config/Sensor.AHRS_3DMGX3_magDeviation" type=00 *a code=006C owner=000D element=00C4 universal=3FFF unitName="degree" type=1F size=0008 fl=05 oN*e code=00C5 elementURI="Config/Sensor.AHRS_3DMGX3_pitchOffset" type=00 *a code=006D owner=000D element=00C5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 oN*e code=00C6 elementURI="Config/Sensor.AHRS_3DMGX3_rollOffset" type=00 *a code=006E owner=000D element=00C6 universal=3FFF unitName="degree" type=1F size=0008 fl=05 oN*e code=00C7 elementURI="Config/Sensor.AHRS_3DMGX3_power" type=00 *a code=006F owner=000D element=00C7 universal=3FFF unitName="watt" type=1F size=0008 fl=05 oN?*e code=00C8 elementURI="Config/Sensor.AHRS_sp3003D_enable" type=00 *a code=0070 owner=000D element=00C8 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN?*e code=00C9 elementURI="Config/Sensor.AHRS_sp3003D_useHardware" type=00 *a code=0071 owner=000D element=00C9 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )oN*e code=00CA elementURI="Config/Sensor.AHRS_sp3003D_magDeviation" type=00 *a code=0072 owner=000D element=00CA universal=3FFF unitName="degree" type=1F size=0008 fl=05 I oN*e code=00CB elementURI="Config/Sensor.AHRS_sp3003D_pitchOffset" type=00 *a code=0073 owner=000D element=00CB universal=3FFF unitName="degree" type=1F size=0008 fl=05 i"oN*e code=00CC elementURI="Config/Sensor.AHRS_sp3003D_rollOffset" type=00 *a code=0074 owner=000D element=00CC universal=3FFF unitName="degree" type=1F size=0008 fl=05 $oN*e code=00CD elementURI="AHRS_sp3003D.readAccelerations" type=01 *a code=0075 owner=000D element=00CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 ,oN*e code=00CE elementURI="AHRS_sp3003D.readMagnetics" type=01 *a code=0076 owner=000D element=00CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 .oN*e code=00CF elementURI="Config/Sensor.AHRS_sp3003D_power" type=00 *a code=0077 owner=000D element=00CF universal=3FFF unitName="watt" type=1F size=0008 fl=05 0oN{Gz?*e code=00D0 elementURI="Config/Sensor.Batt_Ocean_Server_enable" type=00 *a code=0078 owner=000D element=00D0 universal=3FFF unitName="bool" type=1F size=0008 fl=05 2oN?*e code=00D1 elementURI="Config/Sensor.DAT_enable" type=00 *a code=0079 owner=000D element=00D1 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )4oN?*e code=00D2 elementURI="Config/Sensor.DAT_useHardware" type=00 *a code=007A owner=000D element=00D2 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I6oN*e code=00D3 elementURI="Config/Sensor.DAT_remoteAddress" type=00 *a code=007B owner=000D element=00D3 universal=3FFF unitName="count" type=1F size=0008 fl=05 iDoN*e code=00D4 elementURI="Config/Sensor.DAT_rotationOffset" type=00 *a code=007C owner=000D element=00D4 universal=3FFF unitName="degree" type=1F size=0008 fl=05 FoN*e code=00D5 elementURI="Config/Sensor.Depth_Keller_enable" type=00 *a code=007D owner=000D element=00D5 universal=3FFF unitName="bool" type=1F size=0008 fl=05 HoN?*e code=00D6 elementURI="Config/Sensor.Depth_Keller_useHardware" type=00 *a code=007E owner=000D element=00D6 universal=3FFF unitName="bool" type=1F size=0008 fl=05 JoN*e code=00D7 elementURI="Config/Sensor.Depth_Keller_offset" type=00 *a code=007F owner=000D element=00D7 universal=3FFF unitName="decibar" type=1F size=0008 fl=05 LoN*e code=00D8 elementURI="Config/Sensor.Depth_Keller_scale" type=00 *a code=0080 owner=000D element=00D8 universal=3FFF unitName="microbar" type=1F size=0008 fl=05 ZoNPXE'>*e code=00D9 elementURI="Config/Sensor.Depth_Keller_power" type=00 *a code=0081 owner=000D element=00D9 universal=3FFF unitName="watt" type=1F size=0008 fl=05 )coN~jtx?*e code=00DA elementURI="Config/Sensor.Depth_Keller_maxPressBound" type=00 *a code=0082 owner=000D element=00DA universal=3FFF unitName="decibar" type=1F size=0008 fl=05 IeoNSA*e code=00DB elementURI="Config/Sensor.Depth_Keller_minPressBound" type=00 *a code=0083 owner=000D element=00DB universal=3FFF unitName="decibar" type=1F size=0008 fl=05 isoNj*e code=00DC elementURI="Config/Sensor.DropWeight_enable" type=00 *a code=0084 owner=000D element=00DC universal=3FFF unitName="bool" type=1F size=0008 fl=05 uoN?*e code=00DD elementURI="Config/Sensor.DropWeight_useHardware" type=00 *a code=0085 owner=000D element=00DD universal=3FFF unitName="bool" type=1F size=0008 fl=05 woN*e code=00DE elementURI="Config/Sensor.DVL_micro_enable" type=00 *a code=0086 owner=000D element=00DE universal=3FFF unitName="bool" type=1F size=0008 fl=05 yoN?*e code=00DF elementURI="Config/Sensor.DVL_micro_useHardware" type=00 *a code=0087 owner=000D element=00DF universal=3FFF unitName="bool" type=1F size=0008 fl=05 {oN*e code=00E0 elementURI="Config/Sensor.DVL_micro_magDeviation" type=00 *a code=0088 owner=000D element=00E0 universal=3FFF unitName="degree" type=1F size=0008 fl=05 }oN*e code=00E1 elementURI="Config/Sensor.DVL_micro_pitchOffset" type=00 *a code=0089 owner=000D element=00E1 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )oN*e code=00E2 elementURI="Config/Sensor.DVL_micro_rollOffset" type=00 *a code=008A owner=000D element=00E2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 IoN*e code=00E3 elementURI="DVL_micro.simulateRssi" type=01 *a code=008B owner=000D element=00E3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ioN*e code=00E4 elementURI="Config/Sensor.DVL_micro_power" type=00 *a code=008C owner=000D element=00E4 universal=3FFF unitName="watt" type=1F size=0008 fl=05 oNX9v@*e code=00E5 elementURI="Config/Sensor.GPSFailTimeout" type=00 *a code=008D owner=000D element=00E5 universal=3FFF unitName="minute" type=1F size=0008 fl=05 oN@*e code=00E6 elementURI="Config/Sensor.RequestGGA" type=00 *a code=008E owner=000D element=00E6 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN*e code=00E7 elementURI="Config/Sensor.NAL9602_enable" type=00 *a code=008F owner=000D element=00E7 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN?*e code=00E8 elementURI="Config/Sensor.NAL9602_useHardware" type=00 *a code=0090 owner=000D element=00E8 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN*e code=00E9 elementURI="Config/Sensor.NAL9602_power" type=00 *a code=0091 owner=000D element=00E9 universal=3FFF unitName="watt" type=1F size=0008 fl=05 )oNffffff?*e code=00EA elementURI="Config/Sensor.NAL9602_power_platform_communications" type=00 *a code=0092 owner=000D element=00EA universal=3FFF unitName="watt" type=1F size=0008 fl=05 IoN?*e code=00EB elementURI="Config/Sensor.Onboard_enable" type=00 *a code=0093 owner=000D element=00EB universal=3FFF unitName="bool" type=1F size=0008 fl=05 ioN?*e code=00EC elementURI="Config/Sensor.Onboard_useHardware" type=00 *a code=0094 owner=000D element=00EC universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN*e code=00ED elementURI="Config/Sensor.OnboardPressure_slope" type=00 *a code=0095 owner=000D element=00ED universal=3FFF unitName="pound_per_square_inch_per_volt" type=1F size=0008 fl=05 oN.)2A*e code=00EE elementURI="Config/Sensor.OnboardPressure_intercept" type=00 *a code=0096 owner=000D element=00EE universal=3FFF unitName="pound_per_square_inch" type=1F size=0008 fl=05 oN*e code=00EF elementURI="Config/Sensor.Onboard_power" type=00 *a code=0097 owner=000D element=00EF universal=3FFF unitName="watt" type=1F size=0008 fl=05 oN{Gz?*e code=00F0 elementURI="Config/Sensor.Radio_Freewave_enable" type=00 *a code=0098 owner=000D element=00F0 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN?*e code=00F1 elementURI="Config/Sensor.Radio_Freewave_useHardware" type=00 *a code=0099 owner=000D element=00F1 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )oN*e code=00F2 elementURI="Config/Sensor.Radio_Freewave_power" type=00 *a code=009A owner=000D element=00F2 universal=3FFF unitName="watt" type=1F size=0008 fl=05 IoN@*e code=00F3 elementURI="Radio_Freewave.maxDepth" type=01 *a code=009B owner=000D element=00F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ioN?*e code=00F4 elementURI="Config/Sensor.SCPI_enable" type=00 *a code=009C owner=000D element=00F4 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN?*e code=00F5 elementURI="Config/Sensor.SCPI_useHardware" type=00 *a code=009D owner=000D element=00F5 universal=3FFF unitName="bool" type=1F size=0008 fl=05 oN*e code=00F6 elementURI="Config/Sensor.SCPISampleTime" type=00 *a code=009E owner=000D element=00F6 universal=3FFF unitName="second" type=1F size=0008 fl=05 oN$@ƿqoNLLoaded Config Component "Config/SensorNroNROpening Config file at: Config/Sample.cfg*n code=000E name="Config/Sample" *e code=00F7 elementURI="Config/Sample.AsyncPiEstimator_enable" type=00 *a code=009F owner=000E element=00F7 universal=3FFF unitName="bool" type=1F size=0008 fl=05 zoN?ƿ*e code=0175 elementURI="PAR_Licor.minValidPitch" type=01 *a code=011D owner=0012 element=0175 universal=3FFF unitName="degree" type=2F size=0004 fl=05 #oN >*e code=0176 elementURI="Config/Science.Turbulence_NPS_enable" type=00 *a code=011E owner=0012 element=0176 universal=3FFF unitName="bool" type=1F size=0008 fl=05 #oN*e code=0177 elementURI="Config/Science.Turbulence_NPS_useHardware" type=00 *a code=011F owner=0012 element=0177 universal=3FFF unitName="bool" type=1F size=0008 fl=05 #oN*e code=0178 elementURI="Config/Science.Turbulence_NPS_power" type=00 *a code=0120 owner=0012 element=0178 universal=3FFF unitName="watt" type=1F size=0008 fl=05 $oN@*e code=0179 elementURI="Config/Science.WetLabsBB2FL_enable" type=00 *a code=0121 owner=0012 element=0179 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )$oN?*e code=017A elementURI="Config/Science.WetLabsBB2FL_useHardware" type=00 *a code=0122 owner=0012 element=017A universal=3FFF unitName="bool" type=1F size=0008 fl=05 I$oN*e code=017B elementURI="Config/Science.WetLabsBB2FL_timeout" type=00 *a code=0123 owner=0012 element=017B universal=3FFF unitName="second" type=1F size=0008 fl=05 i$oN.@*e code=017C elementURI="Config/Science.WetLabsBB2FL_period" type=00 *a code=0124 owner=0012 element=017C universal=3FFF unitName="second" type=1F size=0008 fl=05 $oN?*e code=017D elementURI="Config/Science.WetLabsBB2FL_power" type=00 *a code=0125 owner=0012 element=017D universal=3FFF unitName="watt" type=1F size=0008 fl=05 $oN?*e code=017E elementURI="Config/Science.WetLabsBB2FL_serial" type=00 *a code=0126 owner=0012 element=017E universal=3FFF unitName="none" type=00 size=0000 fl=05 $oN*e code=017F elementURI="Config/Science.WetLabsBB2FL_scaleFactor470" type=00 *a code=0127 owner=0012 element=017F universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=1F size=0008 fl=05 $oN*e code=0180 elementURI="Config/Science.WetLabsBB2FL_darkCounts470" type=00 *a code=0128 owner=0012 element=0180 universal=3FFF unitName="count" type=1F size=0008 fl=05 %oN*e code=0181 elementURI="Config/Science.WetLabsBB2FL_scaleFactor650" type=00 *a code=0129 owner=0012 element=0181 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=1F size=0008 fl=05 )%oN*e code=0182 elementURI="Config/Science.WetLabsBB2FL_darkCounts650" type=00 *a code=012A owner=0012 element=0182 universal=3FFF unitName="count" type=1F size=0008 fl=05 I%oN*e code=0183 elementURI="Config/Science.WetLabsBB2FL_scaleFactorChl" type=00 *a code=012B owner=0012 element=0183 universal=3FFF unitName="microgram_per_liter_per_count" type=1F size=0008 fl=05 i%oN*e code=0184 elementURI="Config/Science.WetLabsBB2FL_darkCountsChl" type=00 *a code=012C owner=0012 element=0184 universal=3FFF unitName="count" type=1F size=0008 fl=05 %oN*e code=0185 elementURI="Config/Science.WetLabsBB2FL_chlAccuracy" type=00 *a code=012D owner=0012 element=0185 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 %oNƿoNNLoaded Config Component "Config/ScienceNoNTOpening Config file at: Config/Control.cfg*n code=0013 name="Config/Control" *e code=0186 elementURI="Config/Control.HorizontalControl_enable" type=00 *a code=012E owner=0013 element=0186 universal=3FFF unitName="bool" type=1F size=0008 fl=05 %oN?*e code=0187 elementURI="HorizontalControl.kdHeading" type=01 *a code=012F owner=0013 element=0187 universal=3FFF unitName="second" type=0B size=0003 fl=05 %oNL=*e code=0188 elementURI="HorizontalControl.kiHeading" type=01 *a code=0130 owner=0013 element=0188 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 &oN:*e code=0189 elementURI="HorizontalControl.kpHeading" type=01 *a code=0131 owner=0013 element=0189 universal=3FFF unitName="none" type=1F size=0008 fl=05 )&oN?*e code=018A elementURI="HorizontalControl.kwpHeading" type=01 *a code=0132 owner=0013 element=018A universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 I&oNL=*e code=018B elementURI="HorizontalControl.kiwpHeading" type=01 *a code=0133 owner=0013 element=018B universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 i&oN:*e code=018C elementURI="HorizontalControl.maxHdgAccel" type=01 *a code=0134 owner=0013 element=018C universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=05 &oN >*e code=018D elementURI="HorizontalControl.maxHdgInt" type=01 *a code=0135 owner=0013 element=018D universal=3FFF unitName="radian" type=2F size=0004 fl=05 &oN=*e code=018E elementURI="HorizontalControl.maxHdgRate" type=01 *a code=0136 owner=0013 element=018E universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 &oNwV>*e code=018F elementURI="HorizontalControl.maxKxte" type=01 *a code=0137 owner=0013 element=018F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 &oNI?*e code=0190 elementURI="HorizontalControl.rudDeadband" type=01 *a code=0138 owner=0013 element=0190 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 'oN5<*e code=0191 elementURI="HorizontalControl.rudLimit" type=01 *a code=0139 owner=0013 element=0191 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )'oN >*e code=0192 elementURI="Config/Control.LoopControl_enable" type=00 *a code=013A owner=0013 element=0192 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I'oN?*e code=0193 elementURI="LoopControl.nominalDt" type=01 *a code=013B owner=0013 element=0193 universal=3FFF unitName="second" type=0B size=0003 fl=05 i'oN>*e code=0194 elementURI="Config/Control.SpeedControl_enable" type=00 *a code=013C owner=0013 element=0194 universal=3FFF unitName="bool" type=1F size=0008 fl=05 'oN?*e code=0195 elementURI="SpeedControl.propPitch" type=01 *a code=013D owner=0013 element=0195 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=05 'oNa=*e code=0196 elementURI="Config/Control.VerticalControl_enable" type=00 *a code=013E owner=0013 element=0196 universal=3FFF unitName="bool" type=1F size=0008 fl=05 'oN?*e code=0197 elementURI="VerticalControl.buoyancyDefault" type=01 *a code=013F owner=0013 element=0197 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 'oNw:*e code=0198 elementURI="VerticalControl.buoyancyLimitHiCC" type=01 *a code=0140 owner=0013 element=0198 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 (oNXz:*e code=0199 elementURI="VerticalControl.buoyancyLimitLoCC" type=01 *a code=0141 owner=0013 element=0199 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )(oNŧ8*e code=019A elementURI="VerticalControl.buoyancyNeutral" type=01 *a code=0142 owner=0013 element=019A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I(oN:*e code=019B elementURI="VerticalControl.buoyancyPumpDepth" type=01 *a code=0143 owner=0013 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=05 i(oNB*e code=019C elementURI="VerticalControl.depthDeadband" type=01 *a code=0144 owner=0013 element=019C universal=3FFF unitName="meter" type=0B size=0003 fl=05 (oN#<*e code=019D elementURI="VerticalControl.depthRateDeadband" type=01 *a code=0145 owner=0013 element=019D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 (oNu<*e code=019E elementURI="VerticalControl.depthRateSamples" type=01 *a code=0146 owner=0013 element=019E universal=3FFF unitName="count" type=0D size=0004 fl=05 (oN2*e code=019F elementURI="VerticalControl.dropWtDepthExcursion" type=01 *a code=0147 owner=0013 element=019F universal=3FFF unitName="meter" type=0B size=0003 fl=05 (oNA*e code=01A0 elementURI="VerticalControl.dropWtOverrideDelay" type=01 *a code=0148 owner=0013 element=01A0 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )oNC*e code=01A1 elementURI="VerticalControl.elevDeadband" type=01 *a code=0149 owner=0013 element=01A1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 ))/oN5<*e code=01A2 elementURI="VerticalControl.elevLimit" type=01 *a code=014A owner=0013 element=01A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 I)1oN >*e code=01A3 elementURI="VerticalControl.elevTurnTime" type=01 *a code=014B owner=0013 element=01A3 universal=3FFF unitName="second" type=0B size=0003 fl=05 i)3oN@*e code=01A4 elementURI="VerticalControl.excursionDepthTimeout" type=01 *a code=014C owner=0013 element=01A4 universal=3FFF unitName="second" type=0B size=0003 fl=05 )6oN@*e code=01A5 elementURI="VerticalControl.kdDepth" type=01 *a code=014D owner=0013 element=01A5 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=05 )FoN*e code=01A6 elementURI="VerticalControl.kdDepthBuoy" type=01 *a code=014E owner=0013 element=01A6 universal=3FFF unitName="second" type=0B size=0003 fl=05 )JoN*e code=01A7 elementURI="VerticalControl.kdDepthRateBuoy" type=01 *a code=014F owner=0013 element=01A7 universal=3FFF unitName="second" type=0B size=0003 fl=05 )LoN*e code=01A8 elementURI="VerticalControl.kdPitchElevator" type=01 *a code=0150 owner=0013 element=01A8 universal=3FFF unitName="second" type=0B size=0003 fl=05 *PoNL=*e code=01A9 elementURI="VerticalControl.kdPitchMass" type=01 *a code=0151 owner=0013 element=01A9 universal=3FFF unitName="second" type=0B size=0003 fl=05 )*SoN*e code=01AA elementURI="VerticalControl.kiDepth" type=01 *a code=0152 owner=0013 element=01AA universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 I*\oN;*e code=01AB elementURI="VerticalControl.kiDepthBuoy" type=01 *a code=0153 owner=0013 element=01AB universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 i*joN?*e code=01AC elementURI="VerticalControl.kiDepthOff" type=01 *a code=0154 owner=0013 element=01AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *loN=*e code=01AD elementURI="VerticalControl.kiDepthRateBuoy" type=01 *a code=0155 owner=0013 element=01AD universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *ooNpA*e code=01AE elementURI="VerticalControl.kiPitchElevator" type=01 *a code=0156 owner=0013 element=01AE universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *qoN<*e code=01AF 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elementURI="VerticalControl.limitDepthTrajectory" type=01 *a code=015D owner=0013 element=01B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 +oN*e code=01B6 elementURI="VerticalControl.massDeadband" type=01 *a code=015E owner=0013 element=01B6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 +oN:*e code=01B7 elementURI="VerticalControl.massDefault" type=01 *a code=015F owner=0013 element=01B7 universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 +oN*e code=01B8 elementURI="VerticalControl.massFilterLimit" type=01 *a code=0160 owner=0013 element=01B8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ,oN¸=*e code=01B9 elementURI="VerticalControl.massFilterWidth" type=01 *a code=0161 owner=0013 element=01B9 universal=3FFF unitName="second" type=0B size=0003 fl=05 ),oNA*e code=01BA elementURI="VerticalControl.massPositionLimitFwd" type=01 *a code=0162 owner=0013 element=01BA universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 I,oN`<*e code=01BB elementURI="VerticalControl.massPositionLimitAft" type=01 *a code=0163 owner=0013 element=01BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 i,oN`*e code=01BC elementURI="VerticalControl.massTurnTime" type=01 *a code=0164 owner=0013 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=05 ,oNA*e code=01BD elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=0165 owner=0013 element=01BD universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 ,oN9*e code=01BE elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=0166 owner=0013 element=01BE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ,oNL=*e code=01BF elementURI="VerticalControl.maxBuoyInt" type=01 *a code=0167 owner=0013 element=01BF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ,oNQ9*e code=01C0 elementURI="VerticalControl.maxDepthInt" type=01 *a code=0168 owner=0013 element=01C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 -oN¸>*e code=01C1 elementURI="VerticalControl.maxDiveAccel" type=01 *a code=0169 owner=0013 element=01C1 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 )-oN:*e code=01C2 elementURI="VerticalControl.maxDiveRate" type=01 *a code=016A owner=0013 element=01C2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 I-oN>*e code=01C3 elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=016B owner=0013 element=01C3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 i-oN >*e code=01C4 elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=016C owner=0013 element=01C4 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 -oN<*e code=01C5 elementURI="VerticalControl.maxPitchRate" type=01 *a code=016D owner=0013 element=01C5 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 -oN=*e code=01C6 elementURI="VerticalControl.minAscendPitch" type=01 *a code=016E owner=0013 element=01C6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 -oN¸=*e code=01C7 elementURI="VerticalControl.minDepthExcursion" type=01 *a code=016F owner=0013 element=01C7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 -oN?*e code=01C8 elementURI="VerticalControl.pitchLimit" type=01 *a code=0170 owner=0013 element=01C8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 .oN ?*e code=01C9 elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=0171 owner=0013 element=01C9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ).oN A*e code=01CA elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=0172 owner=0013 element=01CA universal=3FFF unitName="minute" type=0B size=0003 fl=05 I.oNC*e code=01CB elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=0173 owner=0013 element=01CB universal=3FFF unitName="minute" type=0B size=0003 fl=05 i.oNRD*e code=01CC elementURI="VerticalControl.surfaceThreshold" type=01 *a code=0174 owner=0013 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fl=05 I7oN/Ȕ_@*e code=0213 elementURI="Config/Simulator.Xwq" type=00 *a code=01BB owner=0015 element=0213 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 i7oN/Ȕ_*e code=0214 elementURI="Config/Simulator.Xrr" type=00 *a code=01BC owner=0015 element=0214 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 7oNax@*e code=0215 elementURI="Config/Simulator.Xqq" type=00 *a code=01BD owner=0015 element=0215 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 7oNax@*e code=0216 elementURI="Config/Simulator.Yuv" type=00 *a code=01BE owner=0015 element=0216 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 7oNɏk7*e code=0217 elementURI="Config/Simulator.Yur" type=00 *a code=01BF owner=0015 element=0217 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 7oNډp!@*e code=0218 elementURI="Config/Simulator.Nrabr" type=00 *a code=01C0 owner=0015 element=0218 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 8oN{vŃ*e code=0219 elementURI="Config/Simulator.Mqabq" type=00 *a code=01C1 owner=0015 element=0219 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 )8oN{vŃ*e code=021A elementURI="Config/Simulator.Nvabv" type=00 *a code=01C2 owner=0015 element=021A universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 I8oNީ{M@*e code=021B elementURI="Config/Simulator.Ywp" type=00 *a code=01C3 owner=0015 element=021B universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 i8oN/Ȕ_@*e code=021C elementURI="Config/Simulator.Yrabr" type=00 *a code=01C4 owner=0015 element=021C universal=3FFF unitName="none" type=1F size=0008 fl=05 8oN*e code=021D elementURI="Config/Simulator.Yvabv" type=00 *a code=01C5 owner=0015 element=021D universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 8oNE}2ʂ*e code=021E elementURI="Config/Simulator.Zwabw" type=00 *a code=01C6 owner=0015 element=021E universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 8oNE}2ʂ*e code=021F elementURI="Config/Simulator.Mwabw" type=00 *a code=01C7 owner=0015 element=021F universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 8oNީ{M*e code=0220 elementURI="Config/Simulator.Zqabq" type=00 *a code=01C8 owner=0015 element=0220 universal=3FFF unitName="none" type=1F size=0008 fl=05 9oN*e code=0221 elementURI="Config/Simulator.Muq" type=00 *a code=01C9 owner=0015 element=0221 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 )9oNg#MN*e code=0222 elementURI="Config/Simulator.Muw" type=00 *a code=01CA owner=0015 element=0222 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 I9oN2AjZ@*e code=0223 elementURI="Config/Simulator.Mpr" type=00 *a code=01CB owner=0015 element=0223 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 i9oN#fF@@*e code=0224 elementURI="Config/Simulator.Npq" type=00 *a code=01CC owner=0015 element=0224 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 9+oN#fF@*e code=0225 elementURI="Config/Simulator.Zuq" type=00 *a code=01CD owner=0015 element=0225 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 9-oNډp!*e code=0226 elementURI="Config/Simulator.Zuw" type=00 *a code=01CE owner=0015 element=0226 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 9/oNɏk7*e code=0227 elementURI="Config/Simulator.Zvp" type=00 *a code=01CF owner=0015 element=0227 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 92oN/Ȕ_*e code=0228 elementURI="Config/Simulator.Kvt2" type=00 *a code=01D0 owner=0015 element=0228 universal=3FFF unitName="none" type=1F size=0008 fl=05 :4oN*e code=0229 elementURI="Config/Simulator.stallAngle" type=00 *a code=01D1 owner=0015 element=0229 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ):BoNes-8R?*e code=022A elementURI="Config/Simulator.wideHystRud" type=00 *a code=01D2 owner=0015 element=022A universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 I:EoN*e code=022B elementURI="Config/Simulator.centerHystRud" type=00 *a code=01D3 owner=0015 element=022B universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 i:GoN*e code=022C elementURI="Config/Simulator.speedRud" type=00 *a code=01D4 owner=0015 element=022C universal=3FFF unitName="angular_degree_per_second" type=1F size=0008 fl=05 :IoNes-8R?*e code=022D elementURI="Config/Simulator.wideHystElev" type=00 *a code=01D5 owner=0015 element=022D universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 :KoN*e code=022E elementURI="Config/Simulator.centerHystElev" type=00 *a code=01D6 owner=0015 element=022E universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 :NoN*e code=022F elementURI="Config/Simulator.speedElev" type=00 *a code=01D7 owner=0015 element=022F universal=3FFF unitName="angular_degree_per_second" type=1F size=0008 fl=05 :UoNes-8R?*e code=0230 elementURI="Config/Simulator.aspectRatio" type=00 *a code=01D8 owner=0015 element=0230 universal=3FFF unitName="none" type=1F size=0008 fl=05 ;XoN@*e code=0231 elementURI="Config/Simulator.finArea" type=00 *a code=01D9 owner=0015 element=0231 universal=3FFF unitName="square_meter" type=1F size=0008 fl=05 );ZoN}?*e code=0232 elementURI="Config/Simulator.CDc" type=00 *a code=01DA owner=0015 element=0232 universal=3FFF unitName="none" type=1F size=0008 fl=05 I;boNQ?*e code=0233 elementURI="Config/Simulator.dCL" type=00 *a code=01DB owner=0015 element=0233 universal=3FFF unitName="none" type=1F size=0008 fl=05 i;doNQ@*e code=0234 elementURI="Config/Simulator.initZ" type=00 *a code=01DC owner=0015 element=0234 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ;hoN*e code=0235 elementURI="Config/Simulator.initPitch" type=00 *a code=01DD owner=0015 element=0235 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ;koN*e code=0236 elementURI="Config/Simulator.initRoll" type=00 *a code=01DE owner=0015 element=0236 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ;roN*e code=0237 elementURI="Config/Simulator.initYaw" type=00 *a code=01DF owner=0015 element=0237 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ;uoN*e code=0238 elementURI="Config/Simulator.initU" type=00 *a code=01E0 owner=0015 element=0238 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 oN*e code=0249 elementURI="Config/Simulator.sss" type=00 *a code=01F1 owner=0015 element=0249 universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 )>oN*e code=024A elementURI="Config/Simulator.sMixed" type=00 *a code=01F2 owner=0015 element=024A universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 I>oN*e code=024B elementURI="Config/Simulator.s300" type=00 *a code=01F3 owner=0015 element=024B universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 i>oN*e code=024C elementURI="Config/Simulator.mixedLayerDepth" type=00 *a code=01F4 owner=0015 element=024C universal=3FFF unitName="meter" type=1F size=0008 fl=05 >oN*e code=024D elementURI="Config/Simulator.oceanModelData" type=00 *a code=01F5 owner=0015 element=024D universal=3FFF unitName="none" type=00 size=0021 fl=05 >oN!Resources/2003080103_mb_l3_las.nc*e code=024E elementURI="Config/Simulator.defaultDensity" type=00 *a code=01F6 owner=0015 element=024E universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 >oN@*e code=024F elementURI="Config/Simulator.buoyancyNeutralOffset" type=00 *a code=01F7 owner=0015 element=024F universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 >oN*e code=0250 elementURI="Config/Simulator.massPositionOffset" type=00 *a code=01F8 owner=0015 element=0250 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 ?oN*e code=0251 elementURI="Config/Simulator.entrainedAir" type=00 *a code=01F9 owner=0015 element=0251 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 )?oN*e code=0252 elementURI="Config/Simulator.bottomLockGone" type=00 *a code=01FA owner=0015 element=0252 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I?oNY@*e code=0253 elementURI="Config/Simulator.homingSensorTat" type=00 *a code=01FB owner=0015 element=0253 universal=3FFF unitName="second" type=1F size=0008 fl=05 i?oN@*e code=0254 elementURI="Config/Simulator.wideHystMovableMass" type=00 *a code=01FC owner=0015 element=0254 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 ?oN*e code=0255 elementURI="Config/Simulator.centerHystMovableMass" type=00 *a code=01FD owner=0015 element=0255 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 ?oN*e code=0256 elementURI="Config/Simulator.speedMovableMass" type=00 *a code=01FE owner=0015 element=0256 universal=3FFF unitName="millimeter_per_second" type=1F size=0008 fl=05 ?&oNǺF?*e code=0257 elementURI="Config/Simulator.wideHystBuoyancy" type=00 *a code=01FF owner=0015 element=0257 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 ?(oN*e code=0258 elementURI="Config/Simulator.centerHystBuoyancy" type=00 *a code=0200 owner=0015 element=0258 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 @+oN*e code=0259 elementURI="Config/Simulator.speedBuoyancy" type=00 *a code=0201 owner=0015 element=0259 universal=3FFF unitName="cubic_centimeter_per_second" type=1F size=0008 fl=05 )@-oNTqs*>ƿ oNRLoaded Config Component "Config/SimulatorN oNZOpening Config file at: Config/Derivation.cfg*n code=0016 name="Config/Derivation" *e code=025A elementURI="Config/Derivation.DepthRateCalculator_enable" type=00 *a code=0202 owner=0016 element=025A universal=3FFF unitName="bool" type=1F size=0008 fl=05 I@oN?*e code=025B elementURI="Config/Derivation.HFRadarModelCalc_enable" type=00 *a code=0203 owner=0016 element=025B universal=3FFF unitName="bool" type=1F size=0008 fl=05 i@oN?*e code=025C elementURI="Config/Derivation.NavChart_enable" type=00 *a code=0204 owner=0016 element=025C universal=3FFF unitName="bool" type=1F size=0008 fl=05 @oN?*e code=025D elementURI="NavChartDb.cycleTimeout" type=01 *a code=0205 owner=0016 element=025D universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 @ oNL=*e code=025E elementURI="Config/Derivation.TempGradientCalculator_enable" type=00 *a code=0206 owner=0016 element=025E universal=3FFF unitName="bool" type=1F size=0008 fl=05 @"oN?*e code=025F elementURI="Config/Derivation.TempGradientCalculator_binsizeDep" type=00 *a code=0207 owner=0016 element=025F universal=3FFF unitName="meter" type=1F size=0008 fl=05 @%oN?*e code=0260 elementURI="Config/Derivation.TempGradientCalculator_numConsecutiveDepths" type=00 *a code=0208 owner=0016 element=0260 universal=3FFF unitName="count" type=1F size=0008 fl=05 A'oN@*e code=0261 elementURI="Config/Derivation.TempGradientCalculator_threshDepChangeAbs" type=00 *a code=0209 owner=0016 element=0261 universal=3FFF unitName="meter" type=1F size=0008 fl=05 )A*oN?*e code=0262 elementURI="Config/Derivation.TempGradientCalculator_extensionDep" type=00 *a code=020A owner=0016 element=0262 universal=3FFF unitName="meter" type=1F size=0008 fl=05 IA8oN@*e code=0263 elementURI="Config/Derivation.PitchRateCalculator_enable" type=00 *a code=020B owner=0016 element=0263 universal=3FFF unitName="bool" type=1F size=0008 fl=05 iA;oN?*e code=0264 elementURI="Config/Derivation.SpeedCalculator_enable" type=00 *a code=020C owner=0016 element=0264 universal=3FFF unitName="bool" type=1F size=0008 fl=05 A=oN?*e code=0265 elementURI="Config/Derivation.YawRateCalculator_enable" type=00 *a code=020D owner=0016 element=0265 universal=3FFF unitName="bool" type=1F size=0008 fl=05 A?oN?*e code=0266 elementURI="Config/Derivation.Navigation_enable" type=00 *a code=020E owner=0016 element=0266 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ABoN?ƿoNTLoaded Config Component "Config/DerivationNoNVOpening Config file at: Config/Guidance.cfg*n code=0017 name="Config/Guidance" NoNvLooking for Config files in directory: Config/lrauv-daphne/NoNnOpening Config file at: Config/lrauv-daphne/vehicle.cfgdoNdaphne*e code=0267 elementURI="Config/vehicle.hostname" type=00 *a code=020F owner=000C element=0267 universal=3FFF unitName="none" type=00 size=001C fl=05 AoNlrauv-daphne.shore.mbari.orgoN@*e code=0268 elementURI="Config/vehicle.imei" type=00 *a code=0210 owner=000C element=0268 universal=3FFF unitName="none" type=00 size=000F fl=05 BoN300234011783940oNffD8BC80*e code=0269 elementURI="Config/vehicle.argoProgram" type=00 *a code=0211 owner=000C element=0269 universal=3FFF unitName="none" type=00 size=0004 fl=05 )BoN9228*e code=026A elementURI="Config/vehicle.argoPlatform" type=00 *a code=0212 owner=000C element=026A universal=3FFF unitName="none" type=00 size=0006 fl=05 IBoN102115?oNoN /dev/loadB6oN /dev/ttyB6?oNNFoNlOpening Config file at: Config/lrauv-daphne/Sensor.cfgI ?LoNi ?NoN ?OoN PoN9RFߑ? ?QoN ?SoN)ToN?I?UoNiVoNFuIbXoNwTru? ?YoN)?ZoNI[oN?i?\oN?foN?goNhoN?ioN@ koNE^2>I?loNi?moN?noNooN??qoN~oN? ?oN)oN'?IoNwTru??oN oN?)?oNI?oN?oNi?oNoN??oNoNBY,8@ ?oN)oN??oNoN??oNNCoNlOpening Config file at: Config/lrauv-daphne/logger.cfgNoNfOpening Config file at: Config/lrauv-daphne/BIT.cfg ?#oN)$oN?I&oNBi(oNpB)oN*oN7,oN7-oN7.oN7 0oN7)?1oN 2oN AI?4oNi4oN2.6.27.85oN)#634 PREEMPT Wed Feb 13 10:21:48 PST 2013?6oNNoNjOpening Config file at: Config/lrauv-daphne/Servo.cfg ?oN)oN?)?oNIoN?*e code=026B elementURI="Config/Servo.ElevatorServo_offset" type=00 *a code=0213 owner=0011 element=026B universal=3FFF unitName="degree" type=1F size=0008 fl=05 iBoN?oNoN?I?oNioN?*e code=026C elementURI="Config/Servo.RudderServo_offset" type=00 *a code=0214 owner=0011 element=026C universal=3FFF unitName="degree" type=1F size=0008 fl=05 BoN?oN oN?N|oNnOpening Config file at: Config/lrauv-daphne/Science.cfg ?oN ?oN oN4831F !?oN)!oN?i!oNSA!oNj!oN@!oN~jt?!oNy&1? "oN)"?oN"oN"?oN"oNUWQ8455"oN #?oN)#oNC#?oN#?oN)$?oNI$oN?$oN bb2flmba-935$oN+b~> %oNI@)%oN>I%oNH@i%oNtF_?%oN:@%oNg+eSS>NloNnOpening Config file at: Config/lrauv-daphne/Control.cfgI(toN9i(uoN\B+?woNI,?xoNi,yoNNoNrOpening Config file at: Config/lrauv-daphne/Simulator.cfg*e code=026D elementURI="Config/Simulator.ExternalSim_enable" type=00 *a code=0215 owner=0015 element=026D universal=3FFF unitName="enum" type=1F size=0008 fl=05 BoNNoNLooking for Config files in directory: Config/lrauv-daphne/LOGIN/noNpIgnoring configuration overrides from Data/persisted.cfgoNLLoading Module at Modules/Simulator.so*n code=0018 name="InternalSim" *a code=0216 owner=0018 element=0047 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0217 owner=0018 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0218 owner=0018 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0219 owner=0018 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=026E elementURI="InternalSim.platform_orientation" type=00 *a code=021A owner=0018 element=026E universal=0028 unitName="degree" type=2F size=0004 fl=05  oNan*e code=026F elementURI="InternalSim.platform_pitch_angle" type=00 *a code=021B owner=0018 element=026F universal=0029 unitName="degree" type=2F size=0004 fl=05  oNan*e code=0270 elementURI="InternalSim.platform_roll_angle" type=00 *a code=021C owner=0018 element=0270 universal=002E unitName="degree" type=2F size=0004 fl=05  oNan*a code=021D owner=0018 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0271 elementURI="InternalSim.depth" type=00 *a code=021E owner=0018 element=0271 universal=0000 unitName="meter" type=0B size=0003 fl=05 *a code=021F owner=0018 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0220 owner=0018 element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0221 owner=0018 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0222 owner=0018 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0272 elementURI="InternalSim.latitude" type=00 *a code=0223 owner=0018 element=0272 universal=000F unitName="degree" type=37 size=0006 fl=05  oNan*e code=0273 elementURI="InternalSim.longitude" type=00 *a code=0224 owner=0018 element=0273 universal=0011 unitName="degree" type=37 size=0006 fl=05  oNan*e code=0274 elementURI="SpeedControl.propOmegaAction" type=02 *a code=0225 owner=0018 element=0274 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=0275 elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=0226 owner=0018 element=0275 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0276 elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=0227 owner=0018 element=0276 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0277 elementURI="VerticalControl.massPositionAction" type=02 *a code=0228 owner=0018 element=0277 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0278 elementURI="InternalSim.platform_propeller_rotation_rate" type=00 *a code=0229 owner=0018 element=0278 universal=002C unitName="radian_per_second" type=0B size=0003 fl=05 *e code=0279 elementURI="InternalSim.platform_elevator_angle" type=00 *a code=022A owner=0018 element=0279 universal=0023 unitName="degree" type=2F size=0004 fl=05  oNan*e code=027A elementURI="InternalSim.platform_rudder_angle" type=00 *a code=022B owner=0018 element=027A universal=0030 unitName="degree" type=2F size=0004 fl=05  .oNan*e code=027B elementURI="InternalSim.platform_mass_position" type=00 *a code=022C owner=0018 element=027B universal=0027 unitName="meter" type=0B size=0003 fl=05 *a code=022D owner=0018 element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 13oNƿ3oNtSyncComponent "InternalSim" handled in the control thread.4oNLoaded Module: Simulator (This is the module containing the Simulator)AoN@Loading Module at Modules/BIT.so*n code=0019 name="SBIT" oN@Construct Startup Built In Test.*e code=027C elementURI="SBIT.SBITRunning" type=00 *a code=022E owner=0019 element=027C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=027D elementURI="VerticalControl.verticalMode" type=02 *a code=022F owner=0019 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=027E elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=0230 owner=0019 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0231 owner=0019 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=027F elementURI="VerticalControl.massPositionCmd" type=02 *a code=0232 owner=0019 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0233 owner=0019 element=0027 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0280 elementURI="HorizontalControl.horizontalMode" type=02 *a code=0234 owner=0019 element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0281 elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=0235 owner=0019 element=0281 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0236 owner=0019 element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0237 owner=0019 element=0113 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0238 owner=0019 element=0114 universal=3FFF unitName="none" type=00 size=0029 fl=04 *a code=0239 owner=0019 element=01A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=023A owner=0019 element=01BA universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=023B owner=0019 element=01BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=023C owner=0019 element=0191 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=023D owner=0019 element=0135 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=023E owner=0019 element=0141 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=023F owner=0019 element=014E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 qoNƿoNfSyncComponent "SBIT" handled in the control thread.*n code=001A name="IBIT" oNDConstruct Initiated Built In Test.*a code=0240 owner=001A element=005B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0241 owner=001A element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0242 owner=001A element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0243 owner=001A element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0244 owner=001A element=0054 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0245 owner=001A element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0246 owner=001A element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0247 owner=001A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0248 owner=001A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0249 owner=001A element=027C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0282 elementURI="NAL9602.sigQuality" type=00 *a code=024A owner=001A element=0282 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0283 elementURI="NAL9602.goodFix" type=00 *a code=024B owner=001A element=0283 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=024C owner=001A element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=024D owner=001A element=0281 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=024E owner=001A element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0284 elementURI="Onboard.Pressure" type=00 *a code=024F owner=001A element=0284 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *e code=0285 elementURI="Onboard.Humidity" type=00 *a code=0250 owner=001A element=0285 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0251 owner=001A element=0116 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0252 owner=001A element=0117 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0253 owner=001A element=0102 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0254 owner=001A element=0103 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0255 owner=001A element=0104 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0256 owner=001A element=0105 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0257 owner=001A element=019A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0258 owner=001A element=01A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0259 owner=001A element=0191 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=025A owner=001A element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=025B owner=001A element=01B7 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=025C owner=001A element=0135 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=025D owner=001A element=014E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 _oNƿ`oNfSyncComponent "IBIT" handled in the control thread.*n code=001B name="CBIT" ooN:Construct CBIT Built In Test.*e code=0286 elementURI="CBIT.clearFaultCmd" type=00 *a code=025E owner=001B element=0286 universal=3FFF unitName="enum" type=0D size=0004 fl=04 *e code=0287 elementURI="CBIT.clearLeakFaultCmd" type=00 *a code=025F owner=001B element=0287 universal=3FFF unitName="enum" type=0D size=0004 fl=04 *a code=0260 owner=001B element=0284 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0261 owner=001B element=0285 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *e code=0288 elementURI="Onboard.Temperature" type=00 *a code=0262 owner=001B element=0288 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0289 elementURI="Batt_Ocean_Server.BattTemp_0" type=00 *a code=0263 owner=001B element=0289 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028A elementURI="Batt_Ocean_Server.BattTemp_1" type=00 *a code=0264 owner=001B element=028A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028B elementURI="Batt_Ocean_Server.BattTemp_2" type=00 *a code=0265 owner=001B element=028B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028C elementURI="Batt_Ocean_Server.BattTemp_3" type=00 *a code=0266 owner=001B element=028C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028D elementURI="Batt_Ocean_Server.BattTemp_4" type=00 *a code=0267 owner=001B element=028D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028E elementURI="Batt_Ocean_Server.BattTemp_5" type=00 *a code=0268 owner=001B element=028E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=028F elementURI="Batt_Ocean_Server.BattTemp_6" type=00 *a code=0269 owner=001B element=028F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0290 elementURI="Batt_Ocean_Server.BattTemp_7" type=00 *a code=026A owner=001B element=0290 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0291 elementURI="Batt_Ocean_Server.BattTemp_8" type=00 *a code=026B owner=001B element=0291 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0292 elementURI="Batt_Ocean_Server.BattTemp_9" type=00 *a code=026C owner=001B element=0292 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0293 elementURI="Batt_Ocean_Server.BattTemp_10" type=00 *a code=026D owner=001B element=0293 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=0294 elementURI="Batt_Ocean_Server.BattTemp_11" type=00 *a code=026E owner=001B element=0294 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=026F owner=001B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0295 elementURI="CBIT.shorePowerOn" type=00 *a code=0270 owner=001B element=0295 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0296 elementURI="CBIT.platform_fault" type=00 *a code=0271 owner=001B element=0296 universal=0024 unitName="enum" type=0D size=0004 fl=05 *e code=0297 elementURI="CBIT.platform_fault_leak" type=00 *a code=0272 owner=001B element=0297 universal=0025 unitName="enum" type=0D size=0004 fl=05 *a code=0273 owner=001B element=005C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0298 elementURI="CBIT.GFCHAN0Current" type=00 *a code=0274 owner=001B element=0298 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0299 elementURI="CBIT.GFCHAN1Current" type=00 *a code=0275 owner=001B element=0299 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=029A elementURI="CBIT.GFCHAN2Current" type=00 *a code=0276 owner=001B element=029A universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=029B elementURI="CBIT.GFCHAN4Current" type=00 *a code=0277 owner=001B element=029B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=029C elementURI="CBIT.GFCHAN5Current" type=00 *a code=0278 owner=001B element=029C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=029D elementURI="CBIT.GFCHANOpenCurrent" type=00 *a code=0279 owner=001B element=029D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=027A owner=001B element=0102 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=027B owner=001B element=0103 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=027C owner=001B element=0104 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=027D owner=001B element=0105 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=027E owner=001B element=0106 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=027F owner=001B element=0107 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0280 owner=001B element=0108 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0281 owner=001B element=0109 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0282 owner=001B element=010A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0283 owner=001B element=010B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0284 owner=001B element=010C universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0285 owner=001B element=010D universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0286 owner=001B element=010E universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0287 owner=001B element=010F universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0288 owner=001B element=0110 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0289 owner=001B element=0111 universal=3FFF unitName="hour" type=0B size=0003 fl=04 hoNƿioNfSyncComponent "CBIT" handled in the control thread.ioNLoaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)joNDLoading Module at Modules/Servo.so*n code=001C name="BuoyancyServo" *a code=028A owner=001C element=011A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=028B owner=001C element=011B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=028C owner=001C element=011C universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=028D owner=001C element=011D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=028E owner=001C element=011E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=028F owner=001C element=011F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0290 owner=001C element=0120 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0291 owner=001C element=0121 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0292 owner=001C element=0122 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0293 owner=001C element=0123 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0294 owner=001C element=0124 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0295 owner=001C element=0125 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=0296 owner=001C element=0126 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0297 owner=001C element=0127 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0298 owner=001C element=0128 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0299 owner=001C element=0197 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=029A owner=001C element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=029B owner=001C element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=029E elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=029C owner=001C element=029E universal=001D unitName="cubic_centimeter" type=0B size=0003 fl=05 y {oN4*e code=029F elementURI="VerticalControl.buoyancyAction" type=02 *a code=029D owner=001C element=029F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 1oNƿoNxSyncComponent "BuoyancyServo" handled in the control thread.*n code=001D name="ElevatorServo" *a code=029E owner=001D element=012B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=029F owner=001D element=012C universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02A0 owner=001D element=012D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A1 owner=001D element=012E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A2 owner=001D element=012F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A3 owner=001D element=0130 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A4 owner=001D element=0131 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A5 owner=001D element=0132 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=02A6 owner=001D element=0133 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=02A7 owner=001D element=0134 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A8 owner=001D element=0135 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=02A9 owner=001D element=01A1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=02A0 elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=02AA owner=001D element=02A0 universal=0023 unitName="radian" type=2F size=0004 fl=05 Q oN;*a code=02AB owner=001D element=0275 universal=3FFF unitName="radian" type=2F size=0004 fl=04 qoNƿoNxSyncComponent "ElevatorServo" handled in the control thread.*n code=001E name="MassServo" *a code=02AC owner=001E element=0138 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02AD owner=001E element=0139 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02AE owner=001E element=013A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02AF owner=001E element=013B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02B0 owner=001E element=013C universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=02B1 owner=001E element=013D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02B2 owner=001E element=013E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02B3 owner=001E element=013F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02B4 owner=001E element=0140 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=02B5 owner=001E element=0141 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=02B6 owner=001E element=01B6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=02A1 elementURI="MassServo.platform_mass_position" type=00 *a code=02B7 owner=001E element=02A1 universal=0027 unitName="meter" type=0B size=0003 fl=05 *a code=02B8 owner=001E element=0277 universal=3FFF unitName="meter" type=0B size=0003 fl=04 oNƿoNpSyncComponent "MassServo" handled in the control thread.*n code=001F name="RudderServo" *a code=02B9 owner=001F element=0144 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02BA owner=001F element=0145 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02BB owner=001F element=0146 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BC owner=001F element=0147 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BD owner=001F element=0148 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BE owner=001F element=0149 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BF owner=001F element=014A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02C0 owner=001F element=014B universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=02C1 owner=001F element=014C universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=02C2 owner=001F element=014D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02C3 owner=001F element=014E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=02C4 owner=001F element=0190 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=02A2 elementURI="RudderServo.platform_rudder_angle" type=00 *a code=02C5 owner=001F element=02A2 universal=0030 unitName="radian" type=2F size=0004 fl=05 *a code=02C6 owner=001F element=0276 universal=3FFF unitName="radian" type=2F size=0004 fl=04 oNƿoNtSyncComponent "RudderServo" handled in the control thread.*n code=0020 name="ThrusterServo" *e code=02A3 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=02C7 owner=0020 element=02A3 universal=002C unitName="radian_per_second" type=0B size=0003 fl=05 *a code=02C8 owner=0020 element=0274 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=02C9 owner=0020 element=0151 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02CA owner=0020 element=0152 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02CB owner=0020 element=0153 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02CC owner=0020 element=0154 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02CD owner=0020 element=0155 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02CE owner=0020 element=0156 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=02CF owner=0020 element=0157 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02D0 owner=0020 element=0158 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04 *a code=02D1 owner=0020 element=0159 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04 *a code=02D2 owner=0020 element=015A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D3 owner=0020 element=015B universal=3FFF unitName="count" type=0D size=0004 fl=04 1oNƿoNxSyncComponent "ThrusterServo" handled in the control thread.oNLoaded Module: Servo (This is the module containing motor controllers)oNNLoading Module at Modules/Derivation.so*n code=0021 name="DepthRateCalculator" *a code=02D4 owner=0021 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02A4 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=02D5 owner=0021 element=02A4 universal=0001 unitName="meter_per_second" type=0B size=0003 fl=05 q4oNƿ4oNSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0022 name="HFRadarModelCalc" *a code=02D6 owner=0022 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02D7 owner=0022 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02D8 owner=0022 element=001E universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02A5 elementURI="HFRadarModelCalc.eastward_sea_water_velocity" type=00 *a code=02D9 owner=0022 element=02A5 universal=0006 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=02A6 elementURI="HFRadarModelCalc.northward_sea_water_velocity" type=00 *a code=02DA owner=0022 element=02A6 universal=000E unitName="meter_per_second" type=0B size=0003 fl=05  CoNL> CoNL>CoNƿCoN~SyncComponent "HFRadarModelCalc" handled in the control thread.*n code=0023 name="NavChart" *a code=02DB owner=0023 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02DC owner=0023 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02DD owner=0023 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02DE owner=0023 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02A7 elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=02DF owner=0023 element=02A7 universal=0046 unitName="meter" type=0B size=0003 fl=05 *e code=02A8 elementURI="NavChart.height_above_sea_floor" type=00 *a code=02E0 owner=0023 element=02A8 universal=0009 unitName="meter" type=0B size=0003 fl=05 *e code=02A9 elementURI="NavChart.distance_from_shore" type=00 *a code=02E1 owner=0023 element=02A9 universal=0003 unitName="kilometer" type=0B size=0003 fl=05  boNDboNƿcoNnSyncComponent "NavChart" handled in the control thread.*n code=0024 name="PitchRateCalculator" *a code=02E2 owner=0024 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02AA elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=02E3 owner=0024 element=02AA universal=002A unitName="radian_per_second" type=0B size=0003 fl=05 1 noNƿnoNSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0025 name="SpeedCalculator" *a code=02E4 owner=0025 element=002C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02AB elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=02E5 owner=0025 element=02AB universal=0032 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=02AC elementURI="SpeedCalculator.platform_speed_wrt_propeller" type=00 *a code=02E6 owner=0025 element=02AC universal=0033 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=02E7 owner=0025 element=0195 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 q oNƿoN|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0026 name="TempGradientCalculator" *a code=02E8 owner=0026 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02E9 owner=0026 element=0050 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02AD elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00 *a code=02EA owner=0026 element=02AD universal=0055 unitName="celsius_per_meter" type=0B size=0003 fl=05 *e code=02AE elementURI="TempGradientCalculator.thermoclineDepth" type=00 *a code=02EB owner=0026 element=02AE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02AF elementURI="TempGradientCalculator.targetDepth" type=00 *a code=02EC owner=0026 element=02AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 oNƿoNSyncComponent "TempGradientCalculator" handled in the control thread.*n code=0027 name="YawRateCalculator" *a code=02ED owner=0027 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02B0 elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=02EE owner=0027 element=02B0 universal=003E unitName="radian_per_second" type=0B size=0003 fl=05 oNƿoNSyncComponent "YawRateCalculator" handled in the control thread.*n code=0028 name="Navigation" *a code=02EF owner=0028 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F0 owner=0028 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F1 owner=0028 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F2 owner=0028 element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F3 owner=0028 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F4 owner=0028 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F5 owner=0028 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F6 owner=0028 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F7 owner=0028 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F8 owner=0028 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02B1 elementURI="Navigation.latitude" type=00 *a code=02F9 owner=0028 element=02B1 universal=000F unitName="degree" type=37 size=0006 fl=05  oN]*e code=02B2 elementURI="Navigation.longitude" type=00 *a code=02FA owner=0028 element=02B2 universal=0011 unitName="degree" type=37 size=0006 fl=05  oN]*e code=02B3 elementURI="Navigation.depth" type=00 *a code=02FB owner=0028 element=02B3 universal=0000 unitName="meter" type=0B size=0003 fl=05  oN`*e code=02B4 elementURI="Navigation.platform_distance_wrt_ground" type=00 *a code=02FC owner=0028 element=02B4 universal=0021 unitName="meter" type=0B size=0003 fl=05 *e code=02B5 elementURI="Navigation.platform_distance_wrt_sea_water" type=00 *a code=02FD owner=0028 element=02B5 universal=0022 unitName="meter" type=0B size=0003 fl=05 *e code=02B6 elementURI="Navigation.eastward_sea_water_velocity" type=00 *a code=02FE owner=0028 element=02B6 universal=0006 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=02B7 elementURI="Navigation.northward_sea_water_velocity" type=00 *a code=02FF owner=0028 element=02B7 universal=000E unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0300 owner=0028 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0301 owner=0028 element=003A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0302 owner=0028 element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0303 owner=0028 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0304 owner=0028 element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0305 owner=0028 element=0041 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0306 owner=0028 element=0031 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02B8 elementURI="Navigation.useHFRadarData" type=00 *a code=0307 owner=0028 element=02B8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0308 owner=0028 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0309 owner=0028 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 1 oNƿoNrSyncComponent "Navigation" handled in the control thread.oNLoaded Module: Derivation (Contains the base derivation components)oNJLoading Module at Modules/Guidance.so- oNrLoaded Module: Guidance (Contains behaviors and commands). oNHLoading Module at Modules/Trigger.soz oN|Loaded Module: Trigger (Contains triggers for use in missions)z oNHLoading Module at Modules/Control.so*n code=0029 name="VerticalControl"  oN4Construct VerticalControl.*a code=030A owner=0029 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=02B9 elementURI="VerticalControl.depthCmd" type=02 *a code=030B owner=0029 element=02B9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=02BA elementURI="VerticalControl.depthRateCmd" type=02 *a code=030C owner=0029 element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=02BB elementURI="VerticalControl.pitchCmd" type=02 *a code=030D owner=0029 element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02BC elementURI="VerticalControl.pitchRateCmd" type=02 *a code=030E owner=0029 element=02BC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=02BD elementURI="VerticalControl.buoyancyCmd" type=02 *a code=030F owner=0029 element=02BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0310 owner=0029 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0311 owner=0029 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02BE elementURI="LoopControl.periodCmd" type=02 *a code=0312 owner=0029 element=02BE universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=02BF elementURI="SpeedControl.speedCmd" type=02 *a code=0313 owner=0029 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0314 owner=0029 element=0197 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0315 owner=0029 element=0198 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0316 owner=0029 element=0199 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0317 owner=0029 element=019A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0318 owner=0029 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0319 owner=0029 element=019C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=031A owner=0029 element=019D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=031B owner=0029 element=019E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=031C owner=0029 element=019F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=031D owner=0029 element=01A0 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=031E owner=0029 element=01A1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=031F owner=0029 element=01A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0320 owner=0029 element=01A3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0321 owner=0029 element=01A4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0322 owner=0029 element=01A6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0323 owner=0029 element=01A5 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04 *a code=0324 owner=0029 element=01A7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0325 owner=0029 element=01A8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0326 owner=0029 element=01A9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0327 owner=0029 element=01AB universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0328 owner=0029 element=01AA universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0329 owner=0029 element=01AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=032A owner=0029 element=01AD universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=032B owner=0029 element=01AE universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=032C owner=0029 element=01AF universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=032D owner=0029 element=01B1 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=032E owner=0029 element=01B0 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=032F owner=0029 element=01B2 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0330 owner=0029 element=01B3 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0331 owner=0029 element=01B4 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0332 owner=0029 element=01B5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0333 owner=0029 element=01B6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0334 owner=0029 element=01B7 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0335 owner=0029 element=01B8 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0336 owner=0029 element=01B9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0337 owner=0029 element=01BA universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0338 owner=0029 element=01BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0339 owner=0029 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=033A owner=0029 element=01BD universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=033B owner=0029 element=01BE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=033C owner=0029 element=01BF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=033D owner=0029 element=01C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=033E owner=0029 element=01C1 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=033F owner=0029 element=01C2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0340 owner=0029 element=01C3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0341 owner=0029 element=01C4 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0342 owner=0029 element=01C5 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0343 owner=0029 element=01C6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0344 owner=0029 element=01C7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0345 owner=0029 element=0193 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0346 owner=0029 element=01C8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0347 owner=0029 element=01C9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0348 owner=0029 element=01CA universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0349 owner=0029 element=01CB universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=034A owner=0029 element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=034B owner=0029 element=01CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=034C owner=0029 element=0135 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=034D owner=0029 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=034E owner=0029 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=034F owner=0029 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0350 owner=0029 element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0351 owner=0029 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0352 owner=0029 element=0027 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0353 owner=0029 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C0 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=0354 owner=0029 element=02C0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=02C1 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=0355 owner=0029 element=02C1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02C2 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0356 owner=0029 element=02C2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02C3 elementURI="VerticalControl.dtInternal" type=02 *a code=0357 owner=0029 element=02C3 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=02C4 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=0358 owner=0029 element=02C4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02C5 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=0359 owner=0029 element=02C5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02C6 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=035A owner=0029 element=02C6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02C7 elementURI="VerticalControl.pitchInternal" type=02 *a code=035B owner=0029 element=02C7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02C8 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=035C owner=0029 element=02C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=035D owner=0029 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=035E owner=0029 element=0275 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=035F owner=0029 element=0277 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0360 owner=0029 element=029F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0361 owner=0029 element=0275 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0362 owner=0029 element=0277 universal=3FFF unitName="meter" type=0B size=0003 fl=04 q !oNƿ!oN|SyncComponent "VerticalControl" handled in the control thread.*n code=002A name="HorizontalControl" !oN8Construct HorizontalControl.*a code=0363 owner=002A element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=02C9 elementURI="HorizontalControl.latitudeCmd" type=02 *a code=0364 owner=002A element=02C9 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=02CA elementURI="HorizontalControl.longitudeCmd" type=02 *a code=0365 owner=002A element=02CA universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=02CB elementURI="HorizontalControl.headingCmd" type=02 *a code=0366 owner=002A element=02CB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02CC elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0367 owner=002A element=02CC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0368 owner=002A element=0281 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02CD elementURI="HorizontalControl.bearingCmd" type=02 *a code=0369 owner=002A element=02CD universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=036A owner=002A element=0187 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=036B owner=002A element=0188 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=036C owner=002A element=0189 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=036D owner=002A element=018A universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=036E owner=002A element=018B universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=036F owner=002A element=018C universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=0370 owner=002A element=018D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0371 owner=002A element=018E universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0372 owner=002A element=018F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0373 owner=002A element=0190 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0374 owner=002A element=0191 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0375 owner=002A element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0376 owner=002A element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0377 owner=002A element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0378 owner=002A element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0379 owner=002A element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02CE elementURI="HorizontalControl.headingInternal" type=02 *a code=037A owner=002A element=02CE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02CF elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=037B owner=002A element=02CF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02D0 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=037C owner=002A element=02D0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02D1 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=037D owner=002A element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02D2 elementURI="HorizontalControl.xteInternal" type=02 *a code=037E owner=002A element=02D2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02D3 elementURI="HorizontalControl.kxteInternal" type=02 *a code=037F owner=002A element=02D3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02D4 elementURI="HorizontalControl.bearingInternal" type=02 *a code=0380 owner=002A element=02D4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0381 owner=002A element=0276 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0382 owner=002A element=0276 universal=3FFF unitName="radian" type=2F size=0004 fl=04 %"oNƿ%"oNSyncComponent "HorizontalControl" handled in the control thread.*n code=002B name="SpeedControl" &"oN.Construct SpeedControl.*a code=0383 owner=002B element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0384 owner=002B element=0195 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0385 owner=002B element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0386 owner=002B element=0274 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 ("oNƿ("oNvSyncComponent "SpeedControl" handled in the control thread.*n code=002C name="LoopControl" )"oN,Construct LoopControl.*a code=0387 owner=002C element=02BE universal=3FFF unitName="second" type=0B size=0003 fl=04 1 *"oNƿ*"oNtSyncComponent "LoopControl" handled in the control thread.+"oNLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)+"oNFLoading Module at Modules/Sample.so*n code=002D name="AsyncPiEstimator" 4"oN6Construct AsyncPiEstimator.*e code=02D5 elementURI="AsyncPiEstimator.piEstimate" type=00 *a code=0388 owner=002D element=02D5 universal=3FFF unitName="none" type=1F size=0008 fl=05 q 9"oNƿ9"oNnComponent "AsyncPiEstimator" handled in its own thread.*n code=002E name="AsyncPiEstimator ThreadHandler" ?"oNDCreated PCaller Thread at 4063B4E0@"oNLoaded Module: Sample (This is a Sample Module of Sample Components)@"oNFLoading Module at Modules/Sensor.so*n code=002F name="AHRS_sp3003D" *a code=0389 owner=002F element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=038A owner=002F element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=038B owner=002F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02D6 elementURI="AHRS_sp3003D.CompassOrientation" type=02 *a code=038C owner=002F element=02D6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=02D7 elementURI="AHRS_sp3003D.CompassTemperature" type=02 *a code=038D owner=002F element=02D7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=02D8 elementURI="AHRS_sp3003D.Mx" type=02 *a code=038E owner=002F element=02D8 universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02D9 elementURI="AHRS_sp3003D.My" type=02 *a code=038F owner=002F element=02D9 universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02DA elementURI="AHRS_sp3003D.Mz" type=02 *a code=0390 owner=002F element=02DA universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02DB elementURI="AHRS_sp3003D.Mt" type=02 *a code=0391 owner=002F element=02DB universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02DC elementURI="AHRS_sp3003D.Ax" type=02 *a code=0392 owner=002F element=02DC universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02DD elementURI="AHRS_sp3003D.Ay" type=02 *a code=0393 owner=002F element=02DD universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02DE elementURI="AHRS_sp3003D.Az" type=02 *a code=0394 owner=002F element=02DE universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02DF elementURI="AHRS_sp3003D.At" type=02 *a code=0395 owner=002F element=02DF universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02E0 elementURI="AHRS_sp3003D.platform_magnetic_orientation" type=00 *a code=0396 owner=002F element=02E0 universal=0026 unitName="degree" type=2F size=0004 fl=05 #oN9*e code=02E1 elementURI="AHRS_sp3003D.platform_orientation" type=00 *a code=0397 owner=002F element=02E1 universal=0028 unitName="degree" type=2F size=0004 fl=05 #oN9*e code=02E2 elementURI="AHRS_sp3003D.platform_pitch_angle" type=00 *a code=0398 owner=002F element=02E2 universal=0029 unitName="degree" type=2F size=0004 fl=05 #oN8*e code=02E3 elementURI="AHRS_sp3003D.platform_roll_angle" type=00 *a code=0399 owner=002F element=02E3 universal=002E unitName="degree" type=2F size=0004 fl=05 #oN8*a code=039A owner=002F element=00CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=039B owner=002F element=00CE universal=3FFF unitName="bool" type=02 size=0001 fl=04 #oNƿ#oNvSyncComponent "AHRS_sp3003D" handled in the control thread.*n code=0030 name="Batt_Ocean_Server" *e code=02E4 elementURI="Batt_Ocean_Server.BattStatus_0" type=00 *a code=039C owner=0030 element=02E4 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e 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"DVL_micro" handled in its own thread.*n code=0034 name="DVL_micro ThreadHandler" f(oNDCreated PCaller Thread at 406C34E0*n code=0035 name="NAL9602" *a code=0412 owner=0035 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0413 owner=0035 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0414 owner=0035 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0344 elementURI="NAL9602.SNRSatellite_0" type=00 *a code=0415 owner=0035 element=0344 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0345 elementURI="NAL9602.SNRSatellite_1" type=00 *a code=0416 owner=0035 element=0345 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0346 elementURI="NAL9602.SNRSatellite_2" type=00 *a code=0417 owner=0035 element=0346 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0347 elementURI="NAL9602.SNRSatellite_3" type=00 *a code=0418 owner=0035 element=0347 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0348 elementURI="NAL9602.SNRSatellite_4" type=00 *a code=0419 owner=0035 element=0348 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0349 elementURI="NAL9602.SNRSatellite_5" type=00 *a code=041A owner=0035 element=0349 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034A elementURI="NAL9602.SNRSatellite_6" type=00 *a code=041B owner=0035 element=034A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034B elementURI="NAL9602.SNRSatellite_7" type=00 *a code=041C owner=0035 element=034B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034C elementURI="NAL9602.SNRSatellite_8" type=00 *a code=041D owner=0035 element=034C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034D elementURI="NAL9602.SNRSatellite_9" type=00 *a code=041E owner=0035 element=034D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034E elementURI="NAL9602.SNRSatellite_10" type=00 *a code=041F owner=0035 element=034E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034F elementURI="NAL9602.SNRSatellite_11" type=00 *a code=0420 owner=0035 element=034F universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0421 owner=0035 element=0283 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0350 elementURI="NAL9602.numSatellites" type=00 *a code=0422 owner=0035 element=0350 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0423 owner=0035 element=0282 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0351 elementURI="NAL9602.SOG" type=00 *a code=0424 owner=0035 element=0351 universal=3FFF unitName="knot" type=0D size=0004 fl=05 *e code=0352 elementURI="NAL9602.COG" type=00 *a code=0425 owner=0035 element=0352 universal=3FFF unitName="degree" type=0D size=0004 fl=05 *e code=0353 elementURI="NAL9602.time_fix" type=00 *a code=0426 owner=0035 element=0353 universal=0054 unitName="second" type=0D size=0004 fl=05 *e code=0354 elementURI="NAL9602.latitude_fix" type=00 *a code=0427 owner=0035 element=0354 universal=0010 unitName="degree" type=37 size=0006 fl=05 Q Q )oN;4*e code=0355 elementURI="NAL9602.longitude_fix" type=00 *a code=0428 owner=0035 element=0355 universal=0012 unitName="degree" type=37 size=0006 fl=05 Q U )oN;4*e code=0356 elementURI="NAL9602.platform_communications" type=00 *a code=0429 owner=0035 element=0356 universal=001E unitName="bool" type=02 size=0001 fl=05 *a code=042A owner=0035 element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 q $)oNƿ$)oNlSyncComponent "NAL9602" handled in the control thread.*n code=0036 name="Onboard" *a code=042B owner=0036 element=0284 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 *a code=042C owner=0036 element=0288 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=042D owner=0036 element=0285 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=0357 elementURI="Onboard.SecBattCurrent" type=00 *a code=042E owner=0036 element=0357 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0358 elementURI="Onboard.EmergBattCurrent" type=00 *a code=042F owner=0036 element=0358 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0359 elementURI="Onboard.MB5VCurrent" type=00 *a code=0430 owner=0036 element=0359 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=035A elementURI="Onboard.MB3p15VCurrent" type=00 *a code=0431 owner=0036 element=035A universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=035B elementURI="Onboard.MB3p3VCurrent" type=00 *a code=0432 owner=0036 element=035B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=035C elementURI="Onboard.MB1p8VCurrent" type=00 *a code=0433 owner=0036 element=035C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=035D elementURI="Onboard.platform_average_current" type=00 *a code=0434 owner=0036 element=035D universal=0016 unitName="milliampere" type=0B size=0003 fl=05 u )oN9*e code=035E elementURI="Onboard.platform_battery_charge_usage" type=00 *a code=0435 owner=0036 element=035E universal=0018 unitName="ampere_hour" type=0B size=0003 fl=05 y )oNaD )oNƿ)oNlSyncComponent "Onboard" handled in the control thread.*n code=0037 name="Radio_Freewave" *a code=0436 owner=0037 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=035F elementURI="Radio_Freewave.FreewavePower" type=02 *a code=0437 owner=0037 element=035F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0438 owner=0037 element=00F3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 )oNƿ)oNzSyncComponent "Radio_Freewave" handled in the control thread.*n code=0038 name="DAT" *e code=0360 elementURI="DAT.onewayRequestedCmd" type=02 *a code=0439 owner=0038 element=0360 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=043A owner=0038 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=043B owner=0038 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=043C owner=0038 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0361 elementURI="DAT.homing_target_range" type=00 *a code=043D owner=0038 element=0361 universal=000A unitName="meter" type=0B size=0003 fl=05 *e code=0362 elementURI="DAT.homing_target_azimuth" type=00 *a code=043E owner=0038 element=0362 universal=000B unitName="degree" type=2F size=0004 fl=05  )oN9*e code=0363 elementURI="DAT.homing_target_elevation" type=00 *a code=043F owner=0038 element=0363 universal=000C unitName="degree" type=2F size=0004 fl=05  )oN9*e code=0364 elementURI="DAT.homing_target_heading" type=00 *a code=0440 owner=0038 element=0364 universal=000D unitName="degree" type=2F size=0004 fl=05  )oN9*e code=0365 elementURI="DAT.LVL1" type=00 *a code=0441 owner=0038 element=0365 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0366 elementURI="DAT.LVL2" type=00 *a code=0442 owner=0038 element=0366 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0367 elementURI="DAT.LVL3" type=00 *a code=0443 owner=0038 element=0367 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0368 elementURI="DAT.LVL4" type=00 *a code=0444 owner=0038 element=0368 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0369 elementURI="DAT.AGC" type=00 *a code=0445 owner=0038 element=0369 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=036A elementURI="DAT.IDXPeak" type=00 *a code=0446 owner=0038 element=036A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=036B elementURI="DAT.IDXFit" type=00 *a code=0447 owner=0038 element=036B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=036C elementURI="DAT.IDXPhase" type=00 *a code=0448 owner=0038 element=036C universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=036D elementURI="DAT.phaseA" type=00 *a code=0449 owner=0038 element=036D universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=036E elementURI="DAT.phaseB" type=00 *a code=044A owner=0038 element=036E universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=036F elementURI="DAT.phaseC" type=00 *a code=044B owner=0038 element=036F universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0370 elementURI="DAT.vectorMagnitude" type=00 *a code=044C owner=0038 element=0370 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0371 elementURI="DAT.rawAzimuth" type=00 *a code=044D owner=0038 element=0371 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0372 elementURI="DAT.rawElevation" type=00 *a code=044E owner=0038 element=0372 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0373 elementURI="DAT.calibratedAzimuth" type=00 *a code=044F owner=0038 element=0373 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0374 elementURI="DAT.calibratedElevation" type=00 *a code=0450 owner=0038 element=0374 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0375 elementURI="DAT.rotatedAzimuth" type=00 *a code=0451 owner=0038 element=0375 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0376 elementURI="DAT.rotatedElevation" type=00 *a code=0452 owner=0038 element=0376 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0377 elementURI="DAT.txHeading" type=00 *a code=0453 owner=0038 element=0377 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0378 elementURI="DAT.txAddress" type=00 *a code=0454 owner=0038 element=0378 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0379 elementURI="DAT.rxAddress" type=00 *a code=0455 owner=0038 element=0379 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=037A elementURI="DAT.range" type=00 *a code=0456 owner=0038 element=037A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0457 owner=0038 element=0360 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=037B elementURI="DAT.azimuth_instrumentCoordinates" type=00 *a code=0458 owner=0038 element=037B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=037C elementURI="DAT.elevation_instrumentCoordinates" type=00 *a code=0459 owner=0038 element=037C universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=037D elementURI="DAT.azimuth_vehicleCoordinates" type=00 *a code=045A owner=0038 element=037D universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=037E elementURI="DAT.elevation_vehicleCoordinates" type=00 *a code=045B owner=0038 element=037E universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=037F elementURI="DAT.azimuth_navigationCoordinates" type=00 *a code=045C owner=0038 element=037F universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0380 elementURI="DAT.elevation_navigationCoordinates" type=00 *a code=045D owner=0038 element=0380 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0381 elementURI="DAT.direction_instrumentCoordinates" type=12 blobType=11 fixedSize=0003 *a code=045E owner=0038 element=0381 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0382 elementURI="DAT.direction_vehicleCoordinates" type=12 blobType=11 fixedSize=0003 *a code=045F owner=0038 element=0382 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0383 elementURI="DAT.direction_navigationCoordinates" type=12 blobType=11 fixedSize=0003 *a code=0460 owner=0038 element=0383 universal=3FFF unitName="none" type=00 size=0000 fl=05 1*oNƿ*oNdSyncComponent "DAT" handled in the control thread.*n code=0039 name="SCPI" *e code=0384 elementURI="SCPI.sampleSCPI" type=00 *a code=0461 owner=0039 element=0384 universal=3FFF unitName="bool" type=02 size=0001 fl=05 q+oNƿ+oNfSyncComponent "SCPI" handled in the control thread.+oNlLoaded Module: Sensor (Contains the sensor components)+oNHLoading Module at Modules/Science.so*n code=003A name="CTD_NeilBrown" *a code=0462 owner=003A element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0385 elementURI="CTD_NeilBrown.sea_water_density" type=00 *a code=0463 owner=003A element=0385 universal=0047 unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *e code=0386 elementURI="CTD_NeilBrown.depth" type=00 *a code=0464 owner=003A element=0386 universal=0000 unitName="meter" type=0B size=0003 fl=05 *e code=0387 elementURI="CTD_NeilBrown.sea_water_pressure" type=00 *a code=0465 owner=003A element=0387 universal=004B unitName="decibar" type=0B size=0003 fl=05 +oNC*e code=0388 elementURI="CTD_NeilBrown.sea_water_salinity" type=00 *a code=0466 owner=003A element=0388 universal=004C unitName="practical_salinity_unit" type=0B size=0003 fl=05 !+oN'7*e code=0389 elementURI="CTD_NeilBrown.sea_water_temperature" type=00 *a code=0467 owner=003A element=0389 universal=0050 unitName="celsius" type=0B size=0003 fl=05 %+oNC*e code=038A elementURI="CTD_NeilBrown.sea_water_electrical_conductivity" type=00 *a code=0468 owner=003A element=038A universal=0048 unitName="millimho_per_centimeter" type=0B size=0003 fl=05 ) ,oN8*a code=0469 owner=003A element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=046A owner=003A element=005C universal=3FFF unitName="bool" type=02 size=0001 fl=04  ,oNƿ ,oNhComponent "CTD_NeilBrown" handled in its own thread.*n code=003B name="CTD_NeilBrown ThreadHandler" #,oNDCreated PCaller Thread at 407154E0*n code=003C name="WetLabsBB2FL" *e code=038B elementURI="WetLabsBB2FL.Output470" type=00 *a code=046B owner=003C element=038B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=038C elementURI="WetLabsBB2FL.Output650" type=00 *a code=046C owner=003C element=038C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=038D elementURI="WetLabsBB2FL.OutputChl" type=00 *a code=046D owner=003C element=038D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=038E elementURI="WetLabsBB2FL.volume_scattering_470_nm" type=00 *a code=046E owner=003C element=038E universal=0058 unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=038F elementURI="WetLabsBB2FL.volume_scattering_650_nm" type=00 *a code=046F owner=003C element=038F universal=0057 unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=0390 elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00 *a code=0470 owner=003C element=0390 universal=0013 unitName="microgram_per_liter" type=0B size=0003 fl=05 AU,oN21U,oNƿU,oNfComponent "WetLabsBB2FL" handled in its own thread.*n code=003D name="WetLabsBB2FL ThreadHandler" b,oNDCreated PCaller Thread at 407454E0b,oNpLoaded Module: Science (Contains the science components)*n code=003E name="MissionManager" *a code=0471 owner=003E element=027C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0472 owner=003E element=005B universal=3FFF unitName="bool" type=02 size=0001 fl=04 ƿr,oNzSyncComponent "MissionManager" handled in the control thread.*n code=003F name="Reporter" ƿu,oNnSyncComponent "Reporter" handled in the control thread.*n code=0040 name="NavChartDb" *e code=0391 elementURI="NavChartDb.closestDistance" type=00 *a code=0473 owner=0040 element=0391 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0392 elementURI="NavChartDb.nextDistance" type=00 *a code=0474 owner=0040 element=0392 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0393 elementURI="NavChartDb.closestDepth" type=00 *a code=0475 owner=0040 element=0393 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0394 elementURI="NavChartDb.nextDepth" type=00 *a code=0476 owner=0040 element=0394 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0477 owner=0040 element=025D universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ,oNbComponent "NavChartDb" handled in its own thread.*n code=0041 name="NavChartDb ThreadHandler" ,oNDCreated PCaller Thread at 407754E0F,oN&Running supervisor.,oN"Thread ID is 1610!,oN \,oN,oN"Thread ID is 1609 ,oN4Initializing ControlThread,oN"Thread ID is 1608 ,oN8 InternalSim initializing...*a code=0478 owner=0018 element=019A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 ,oN"Thread ID is 1611*e code=0395 elementURI="logger.durationOfLastRun" type=00 *a code=0479 owner=000A element=0395 universal=3FFF unitName="second" type=07 size=0002 fl=05 )-oN$>-oN"Thread ID is 1672-oN8Initialize AsyncPiEstimator. q-oN|[ @*e code=0396 elementURI="AsyncPiEstimator.durationOfLastRun" type=00 *a code=047A owner=002D element=0396 universal=3FFF unitName="second" type=07 size=0002 fl=05 I-oN*;)D.oNA>G.oN"Thread ID is 1673).oN=> q/oN^  @I/oN;/oN"Thread ID is 1674 /oN6Initializing CTD_NeilBrown./oNFOpening uart, block timeout 10ths=4*e code=0397 elementURI="CTD_NeilBrown.durationOfLastRun" type=00 *a code=047B owner=003A element=0397 universal=3FFF unitName="second" type=07 size=0002 fl=05 i/oNX;i/oN:)./oNP=i/oN=*e code=0398 elementURI="CTD_NeilBrown.component_voltage" type=00 *a code=047C owner=003A element=0398 universal=3FFF unitName="volt" type=07 size=0002 fl=05 /oN*e code=0399 elementURI="CTD_NeilBrown.component_avgVoltage" type=00 )/oN=/oN"Thread ID is 1675/oNPowering down*e code=039A elementURI="WetLabsBB2FL.component_voltage" type=00 *a code=047D owner=003C element=039A universal=3FFF unitName="volt" type=07 size=0002 fl=05 /oN*e code=039B elementURI="WetLabsBB2FL.component_avgVoltage" type=00 *a code=047E owner=003C element=039B universal=3FFF unitName="volt" type=07 size=0002 fl=05 ɏ/oN*e code=039C elementURI="WetLabsBB2FL.component_current" type=00 *a code=047F owner=003C element=039C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 鏿/oN*e code=039D elementURI="WetLabsBB2FL.component_avgCurrent" type=00 *a code=0480 owner=003C element=039D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 /oNi/oN/oN/oNɍ/oN鍿/oN /oN)O0oN=*a code=0481 owner=003A element=0399 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )P0oN*e code=039E elementURI="CTD_NeilBrown.component_current" type=00 *a code=0482 owner=003A element=039E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 Ic0oN*e code=039F elementURI="CTD_NeilBrown.component_avgCurrent" type=00 *a code=0483 owner=003A element=039F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ih0oN q{0oN@' @I{0oN: |0oN"Thread ID is 1676)0oNY= 0oN|Looking for Electronic Nav Chart files in directory: Resources 0oNtAlready Loaded Electronic Nav Chart data from US5CA50M.000 0oNtAlready Loaded Electronic Nav Chart data from US2WC11M.000 0oNtAlready Loaded Electronic Nav Chart data from US1WC07M.000 0oNtAlready Loaded Electronic Nav Chart data from US3CA52M.000 0oNtAlready Loaded Electronic Nav Chart data from US5CA61M.000 0oNtAlready Loaded Electronic Nav Chart data from US5CA83M.000 0oNtAlready Loaded Electronic Nav Chart data from US5CA62M.000 0oNtAlready Loaded Electronic Nav Chart data from US4CA60M.0000oNInitializing0oN"start:Powering up0oNHOpening uart, block timeout 10ths=20i0oN>0oNDCycling power to configure device.*e code=03A0 elementURI="DVL_micro.component_voltage" type=00 )0oNh=*a code=0484 owner=0033 element=03A0 universal=3FFF unitName="volt" type=07 size=0002 fl=05 0oN*e code=03A1 elementURI="DVL_micro.component_avgVoltage" type=00 *a code=0485 owner=0033 element=03A1 universal=3FFF unitName="volt" type=07 size=0002 fl=05 1oN*e code=03A2 elementURI="DVL_micro.component_current" type=00 *a code=0486 owner=0033 element=03A2 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ɐ#1oN*e code=03A3 elementURI="DVL_micro.component_avgCurrent" type=00 )1oN>*a code=0487 owner=0033 element=03A3 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 鐿1oN*e code=03A4 elementURI="WetLabsBB2FL.durationOfLastRun" type=00 *a code=0488 owner=003C element=03A4 universal=3FFF unitName="second" type=07 size=0002 fl=05 1oN> 1oN< q1oNyx @I?1oN! 1oN 9E1oN! 1oN YE1oN! 1oN yE1oN)1oNN=! 1oN E1oN! 1oN YC1oN! 1oN yC1oN! 1oN C1oN! 1oN C1oN 1oN4Initialize SBIT Component. 1oN4Tethys CM Info: $Rev:10401 1oN.Kernel Release:2.6.27.8 1oNpKernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013E1oN 1oN4Initialize IBIT Component. H1oN 1oN4Initialize CBIT Component. 1oN>LAST RESTART WAS UNINTENTIONAL. 1oNTLast reboot was NOT due to watchdog timer.2oNBInitializing DepthRateCalculator.2oN>Initialize NavChart Derivation. 2oNBInitializing PitchRateCalculator.2oN:Initializing SpeedCalculator. 2oNHInitializing TempGradientCalculator.2oN>Initializing YawRateCalculator. 2oN0Initializing Navigation.2oNHInitialize VerticalControlComponent. 2oNLInitialize HorizontalControlComponent.2oNBInitialize SpeedControlComponent. 2oN@Initialize LoopControlComponent.)?*2oNii2oN>)2oNP=)2oNx= q3oN( @I?3oN 03oN>)Y3oNz=)3oNQ=i?#4oN)L4oNz= q{4oNT5 @I?{4oN)4oN= ?4oN)5oN==5oN`got command report touch DAT.homing_target_range*a code=0489 owner=003F element=0361 universal=3FFF unitName="meter" type=0B size=0003 fl=04 =U5oNrgot command run ./Missions/Engineering/Homing_pursuit.xmlV5oNtLoading Mission: ./Missions/Engineering/Homing_pursuit.xml)p5oNy=i?5oN q5oNX @I?5oN)5oNi=*n code=0042 name="homing_pursuit" )36oNw=*e code=03A5 elementURI="homing_pursuit.WpCloseLat" type=00 *a code=048A owner=0042 element=03A5 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=048B owner=0042 element=03A5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 i;6oNQ?<6oNlDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg*e code=03A6 elementURI="homing_pursuit.WpCloseLon" type=00 *a code=048C owner=0042 element=03A6 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=048D owner=0042 element=03A6 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ?6oN+!K6oNpDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg*e code=03A7 elementURI="homing_pursuit.WpFarLat" type=00 *a code=048E owner=0042 element=03A7 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=048F owner=0042 element=03A7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 鑿M6oN;:?N6oNhDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg*e code=03A8 elementURI="homing_pursuit.WpFarLon" type=00 *a code=0490 owner=0042 element=03A8 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0491 owner=0042 element=03A8 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )T6oN+!U6oNlDefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg*e code=03A9 elementURI="homing_pursuit.Altitude" type=00 *a code=0492 owner=0042 element=03A9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0493 owner=0042 element=03A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ig6oN$@h6oN^DefineArg homing_pursuit.Altitude = 10.000000 m ?u6oN*e code=03AA elementURI="homing_pursuit.Speed" type=00 *a code=0494 owner=0042 element=03AA universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0495 owner=0042 element=03AA universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ~6oN?6oNZDefineArg homing_pursuit.Speed = 1.000000 m/s*a code=0496 owner=0042 element=01B7 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *e code=03AB elementURI="homing_pursuit.MassDefault" type=00 *a code=0497 owner=0042 element=03AB universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0498 owner=0042 element=03AB universal=3FFF unitName="none" type=1F size=0008 fl=05 6oN6oNfDefineArg homing_pursuit.MassDefault = 0.000000 n/a*a code=0499 owner=0042 element=019A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=03AC elementURI="homing_pursuit.BuoyancyNeutral" type=00 )6oNj=*a code=049A owner=0042 element=03AC universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=049B owner=0042 element=03AC universal=3FFF unitName="none" type=1F size=0008 fl=05 i6oN@}=?6oNnDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a*e code=03AD elementURI="homing_pursuit.NumberOfLaps" type=00 *a code=049C owner=0042 element=03AD universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=049D owner=0042 element=03AD universal=3FFF unitName="count" type=1F size=0008 fl=05 6oN6oNlDefineArg homing_pursuit.NumberOfLaps = 0.000000 count*e code=03AE elementURI="homing_pursuit.MinRange" type=00 *a code=049E owner=0042 element=03AE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=049F owner=0042 element=03AE universal=3FFF unitName="meter" type=1F size=0008 fl=05 铿6oN4@6oN^DefineArg homing_pursuit.MinRange = 20.000000 m*a code=04A0 owner=0042 element=0160 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=03AF elementURI="homing_pursuit.EnabledNeilBrown" type=00 *a code=04A1 owner=0042 element=03AF universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04A2 owner=0042 element=03AF universal=3FFF unitName="none" type=1F size=0008 fl=05 I6oN?6oNpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a*e code=03B0 elementURI="homing_pursuit.ApproachDepth" type=00 *a code=04A3 owner=0042 element=03B0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=04A4 owner=0042 element=03B0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 6oN$@6oNhDefineArg homing_pursuit.ApproachDepth = 10.000000 m*e code=03B1 elementURI="homing_pursuit.ApproachTimeout" type=00 *a code=04A5 owner=0042 element=03B1 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=04A6 owner=0042 element=03B1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 ɔ6oN @6oNpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min*e code=03B2 elementURI="homing_pursuit.TimeoutDuration" type=00 *a code=04A7 owner=0042 element=03B2 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=04A8 owner=0042 element=03B2 universal=3FFF unitName="minute" type=1F size=0008 fl=05 6oN@6oNrDefineArg homing_pursuit.TimeoutDuration = 180.000000 min)6oNO=*e code=03B3 elementURI="homing_pursuit.WaitDuration" type=00 *a code=04A9 owner=0042 element=03B3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=04AA owner=0042 element=03B3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 I6oN>@6oNhDefineArg homing_pursuit.WaitDuration = 0.500000 min*e code=03B4 elementURI="homing_pursuit.kpAltitude" type=00 *a code=04AB owner=0042 element=03B4 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04AC owner=0042 element=03B4 universal=3FFF unitName="none" type=1F size=0008 fl=05 q7oNP+k @I?7oN6oN{Gz7oNfDefineArg homing_pursuit.kpAltitude = -0.080000 n/a*e code=03B5 elementURI="homing_pursuit.kiAltitude" type=00 *a code=04AD owner=0042 element=03B5 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04AE owner=0042 element=03B5 universal=3FFF unitName="none" type=1F size=0008 fl=05 ɕ7oN7oNdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a*e code=03B6 elementURI="homing_pursuit.kdAltitude" type=00 *a code=04AF owner=0042 element=03B6 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04B0 owner=0042 element=03B6 universal=3FFF unitName="none" type=1F size=0008 fl=05 7oN7oNdDefineArg homing_pursuit.kdAltitude = 0.000000 n/a*e code=03B7 elementURI="homing_pursuit.MaxDepth" type=00 *a code=04B1 owner=0042 element=03B7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=04B2 owner=0042 element=03B7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I17oNF@27oN^DefineArg homing_pursuit.MaxDepth = 45.000000 m*n code=0043 name="homing_pursuit:A_Timeout" *n code=0044 name="homing_pursuit:A" i?97oN*n code=0045 name="homing_pursuit:B.AltitudeEnvelope" "H7oN6Construct AltitudeEnvelope.*a code=04B3 owner=0045 element=01C8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04B4 owner=0045 element=01C2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04B5 owner=0045 element=01BE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04B6 owner=0045 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=04B7 owner=0045 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04B8 owner=0045 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04B9 owner=0045 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04BA owner=0045 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=04BB owner=0045 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04BC owner=0045 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04BD owner=0045 element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04BE owner=0045 element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 )a7oN=*n code=0046 name="homing_pursuit:C.DepthEnvelope" #b7oN0Construct DepthEnvelope.*a code=04BF owner=0046 element=01C8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04C0 owner=0046 element=01C2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04C1 owner=0046 element=01BE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04C2 owner=0046 element=01A3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04C3 owner=0046 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04C4 owner=0046 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=04C5 owner=0046 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04C6 owner=0046 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04C7 owner=0046 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04C8 owner=0046 element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04C9 owner=0046 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=04CA owner=0046 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04CB owner=0046 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04CC owner=0046 element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04CD owner=0046 element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0047 name="homing_pursuit:D.OffshoreEnvelope" #{7oN6Construct OffshoreEnvelope.*a code=04CE owner=0047 element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=04CF owner=0047 element=02C9 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=04D0 owner=0047 element=02CA universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=04D1 owner=0047 element=02CD universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04D2 owner=0047 element=02CB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04D3 owner=0047 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04D4 owner=0047 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D5 owner=0047 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D6 owner=0047 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D7 owner=0047 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D8 owner=0047 element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=04D9 owner=0047 element=02CB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04DA owner=0047 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0048 name="homing_pursuit:E" 7oNXInserting Stack: Missions/Insert/Surface.xml)7oNW=*n code=0049 name="homing_pursuit:SURFACECOMMS" *e code=03B8 elementURI="homing_pursuit:SURFACECOMMS.SurfaceDepthRate" type=00 *a code=04DB owner=0049 element=03B8 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=04DC owner=0049 element=03B8 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 !8oN"8oNDefineArg homing_pursuit:SURFACECOMMS.SurfaceDepthRate = nan m/s ?/8oN*e code=03B9 elementURI="homing_pursuit:SURFACECOMMS.SurfacePitch" type=00 *a code=04DD owner=0049 element=03B9 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=04DE owner=0049 element=03B9 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ɛ48oN58oN~DefineArg homing_pursuit:SURFACECOMMS.SurfacePitch = nan arcdeg*e code=03BA elementURI="homing_pursuit:SURFACECOMMS.SurfaceSpeed" type=00 *a code=04DF owner=0049 element=03BA universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=04E0 owner=0049 element=03BA universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 78oN?88oNDefineArg homing_pursuit:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s*e code=03BB elementURI="homing_pursuit:SURFACECOMMS.IridiumTimeout" type=00 *a code=04E1 owner=0049 element=03BB universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=04E2 owner=0049 element=03BB universal=3FFF unitName="minute" type=1F size=0008 fl=05 I:8oN @)G8oNh=K8oNDefineArg homing_pursuit:SURFACECOMMS.IridiumTimeout = 30.000000 min*e code=03BC elementURI="homing_pursuit:SURFACECOMMS.UnpackSplitAtSurface" type=00 *a code=04E3 owner=0049 element=03BC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04E4 owner=0049 element=03BC universal=3FFF unitName="bool" type=02 size=0001 fl=05 M8oNM8oNDefineArg homing_pursuit:SURFACECOMMS.UnpackSplitAtSurface = 0 bool*n code=004A name="homing_pursuit:SURFACECOMMS:A.GoToSurface" %N8oN,Construct GoToSurface.*a code=04E5 owner=004A element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E6 owner=004A element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04E7 owner=004A element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04E8 owner=004A element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04E9 owner=004A element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=04EA owner=004A element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04EB owner=004A element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04EC owner=004A element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=004B name="homing_pursuit:SURFACECOMMS:B" *n code=004C name="homing_pursuit:SURFACECOMMS:B:A" *n code=004D name="homing_pursuit:SURFACECOMMS:C" *n code=004E name="homing_pursuit:SURFACECOMMS:C:A" *n code=004F name="homing_pursuit:SURFACECOMMS:C:B" q|8oN@ɴ @I|8oN7;*n code=0050 name="homing_pursuit:SURFACECOMMS:C:B:A_Timeout" *n code=0051 name="homing_pursuit:SURFACECOMMS:C:C" *n code=0052 name="homing_pursuit:Lap" *n code=0053 name="homing_pursuit:Lap:A" *n code=0054 name="homing_pursuit:Lap:B.Wait" *8oNConstruct Wait.*n code=0055 name="homing_pursuit:Lap:Pursuit" *a code=04ED owner=0055 element=000A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0056 name="homing_pursuit:Lap:Pursuit:A.Pitch" +8oNConstruct.*a code=04EE owner=0056 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04EF owner=0056 element=02B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04F0 owner=0056 element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04F1 owner=0056 element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04F2 owner=0056 element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04F3 owner=0056 element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04F4 owner=0056 element=02BC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=04F5 owner=0056 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0057 name="homing_pursuit:Lap:Pursuit:B.Buoyancy" +8oN&Construct Buoyancy.*a code=04F6 owner=0057 element=0126 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04F7 owner=0057 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04F8 owner=0057 element=02BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0058 name="homing_pursuit:Lap:Pursuit:C.SetSpeed" ,8oNConstruct.*a code=04F9 owner=0058 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 )8oN=8oNDOcean Server Batteries initialized*a code=04FA owner=0058 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04FB owner=0058 element=02BE universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0059 name="homing_pursuit:Lap:Pursuit:D.PitchServo" ,8oNConstruct.*a code=04FC owner=0059 element=01A5 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04 *a code=04FD owner=0059 element=01AA universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04FE owner=0059 element=01B0 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 i?8oN)|8oN*a code=04FF owner=0059 element=01C2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0500 owner=0059 element=01C1 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0501 owner=0059 element=01C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0502 owner=0059 element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0503 owner=0059 element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0504 owner=0059 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 )9oNV=*n code=005A name="homing_pursuit:Lap:Pursuit:E.Point" -9oNConstruct.*a code=0505 owner=005A element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0506 owner=005A element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0507 owner=005A element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0508 owner=005A element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0509 owner=005A element=02CB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=050A owner=005A element=02CC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=050B owner=005A element=0281 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=050C owner=005A element=02C9 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=050D owner=005A element=02CA universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=050E owner=005A element=000B universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005B name="homing_pursuit:Lap:Pursuit:F.Wait" -&9oNConstruct Wait. O9oNIx Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 20 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 P9oNJLoading Mission: Missions/Startup.xml*n code=005C name="Startup" *n code=005D name="Startup:A.GoToSurface" .[9oN,Construct GoToSurface.*a code=050F owner=005D element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0510 owner=005D element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0511 owner=005D element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0512 owner=005D element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0513 owner=005D element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0514 owner=005D element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0515 owner=005D element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0516 owner=005D element=01CC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=005E name="Startup:StartupSatComms" )g9oNP=*n code=005F name="Startup:StartupSatComms:A" *n code=0060 name="Startup:StartupSatComms:A:A_Timeout" =p9oNbRunning ./Missions/Engineering/Homing_pursuit.xml*n code=0061 name="Startup:StartupSatComms:B" *n code=0062 name="Startup:StartupSatComms:B:A_Timeout" v9oN w9oNJLoading Mission: Missions/Default.xml9oNHOpening uart, block timeout 10ths=209oN*Querying output modes9oN 400 400 Burn 300 Dropped drop weight due to communications timeout 5.0 1.0 5 :oNComponent order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,1{k /%!5kA{.@*e code=03BF elementURI="CycleStarter.durationOfLastRun" type=00 *a code=053F owner=0007 element=03BF universal=3FFF unitName="second" type=07 size=0002 fl=05 駫;9EYEyEEYCFm97yC}CwC,9*e code=03C0 elementURI="InternalSim.durationOfLastRun" type=00 *a code=0540 owner=0018 element=03C0 universal=3FFF unitName="second" type=07 size=0002 fl=05 =;4Initializing AHRS_sp3003D.*e code=03C1 elementURI="AHRS_sp3003D.durationOfLastRun" type=00 *a code=0541 owner=002F element=03C1 universal=3FFF unitName="second" type=07 size=0002 fl=05 )KI<*e code=03C2 elementURI="Batt_Ocean_Server.durationOfLastRun" type=00 qB, @I)=*a code=0542 owner=0030 element=03C2 universal=3FFF unitName="second" type=07 size=0002 fl=05 I9颋> );P=a a [ {[a e [ |[`*e code=03C3 elementURI="Depth_Keller.durationOfLastRun" type=00 *a code=0543 owner=0031 element=03C3 universal=3FFF unitName="second" type=07 size=0002 fl=05 i=)|3*e code=03C4 elementURI="DropWeight.durationOfLastRun" type=00 *a code=0544 owner=0032 element=03C4 universal=3FFF unitName="second" type=07 size=0002 fl=05 {Q9*e code=03C5 elementURI="NAL9602.durationOfLastRun" type=00 *a code=0545 owner=0035 element=03C5 universal=3FFF unitName="second" type=07 size=0002 fl=05 8i;G;ȓCK5>)v=Ʌ> y iK=< K|>)K>I[\=i[h>*e code=03C6 elementURI="Onboard.durationOfLastRun" type=00 *a code=0546 owner=0036 element=03C6 universal=3FFF unitName="second" type=07 size=0002 fl=05 ɨ=) y=+Powering up*e code=03C7 elementURI="Radio_Freewave.durationOfLastRun" type=00 *a code=0547 owner=0037 element=03C7 universal=3FFF unitName="second" type=07 size=0002 fl=05 K7:KPowering up ["Initializing DAT.[ q /-lF @I*e code=03C8 elementURI="DAT.durationOfLastRun" type=00 *a code=0548 owner=0038 element=03C8 universal=3FFF unitName="second" type=07 size=0002 fl=05 =*e code=03C9 elementURI="SCPI.durationOfLastRun" type=00 *a code=0549 owner=0039 element=03C9 universal=3FFF unitName="second" type=07 size=0002 fl=05 )8i[Q9*e code=03CA elementURI="DepthRateCalculator.durationOfLastRun" type=00 *a code=054A owner=0021 element=03CA universal=3FFF unitName="second" type=07 size=0002 fl=05 IQ9*e code=03CB elementURI="HFRadarModelCalc.durationOfLastRun" type=00 *a code=054B owner=0022 element=03CB universal=3FFF unitName="second" type=07 size=0002 fl=05 i[)i=*e code=03CC elementURI="NavChart.durationOfLastRun" type=00 *a code=054C owner=0023 element=03CC universal=3FFF unitName="second" type=07 size=0002 fl=05 *e code=03CD elementURI="PitchRateCalculator.durationOfLastRun" type=00 *a code=054D owner=0024 element=03CD universal=3FFF unitName="second" type=07 size=0002 fl=05 8Q =a  \ Q =a  \*e code=03CE elementURI="SpeedCalculator.durationOfLastRun" type=00 *a code=054E owner=0025 element=03CE universal=3FFF unitName="second" type=07 size=0002 fl=05 ɩ[:*e code=03CF elementURI="TempGradientCalculator.durationOfLastRun" type=00 #;>)O=*a code=054F owner=0026 element=03CF universal=3FFF unitName="second" type=07 size=0002 fl=05 驫*e code=03D0 elementURI="YawRateCalculator.durationOfLastRun" type=00 *a code=0550 owner=0027 element=03D0 universal=3FFF unitName="second" type=07 size=0002 fl=05 +  K ?i_K `[  [ ? [ ?_[  [ _[  [ *e code=03D1 elementURI="Navigation.durationOfLastRun" type=00 *a code=0551 owner=0028 element=03D1 universal=3FFF unitName="second" type=07 size=0002 fl=05 ){ Q;*e code=03D2 elementURI="MissionManager.durationOfLastRun" type=00 *a code=0552 owner=003E element=03D2 universal=3FFF unitName="second" type=07 size=0002 fl=05 I 8k[ l[ w:jk jk )kk  kk *e code=03D3 elementURI="VerticalControl.durationOfLastRun" type=00 )P=*a code=0553 owner=0029 element=03D3 universal=3FFF unitName="second" type=07 size=0002 fl=05 ikK;)p{*e code=03D4 elementURI="HorizontalControl.durationOfLastRun" type=00 *a code=0554 owner=002A element=03D4 universal=3FFF unitName="second" type=07 size=0002 fl=05 9p*e code=03D5 elementURI="SpeedControl.durationOfLastRun" type=00 *a code=0555 owner=002B element=03D5 universal=3FFF unitName="second" type=07 size=0002 fl=05 9*e code=03D6 elementURI="LoopControl.durationOfLastRun" type=00 *a code=0556 owner=002C element=03D6 universal=3FFF unitName="second" type=07 size=0002 fl=05 ɪ8  4Initializing EZServoServo. 6Initializing BuoyancyServo.*e code=03D7 elementURI="BuoyancyServo.durationOfLastRun" type=00 qKQh @ICic)*a code=0557 owner=001C element=03D7 universal=3FFF unitName="second" type=07 size=0002 fl=05 ?<4Initializing EZServoServo.k6Initializing ElevatorServo.*e code=03D8 elementURI="ElevatorServo.durationOfLastRun" type=00 *a code=0558 owner=001D element=03D8 universal=3FFF unitName="second" type=07 size=0002 fl=05  < 4Initializing EZServoServo. .Initializing MassServo.*e code=03D9 elementURI="MassServo.durationOfLastRun" type=00 *a code=0559 owner=001E element=03D9 universal=3FFF unitName="second" type=07 size=0002 fl=05 );4Initializing EZServoServo.2Initializing RudderServo.*e code=03DA elementURI="RudderServo.durationOfLastRun" type=00 )w=*a code=055A owner=001F element=03DA universal=3FFF unitName="second" type=07 size=0002 fl=05 I`< +4Initializing EZServoServo. 6Initializing ThrusterServo.*e code=03DB elementURI="ThrusterServo.durationOfLastRun" type=00 *a code=055B owner=0020 element=03DB universal=3FFF unitName="second" type=07 size=0002 fl=05 i '<*e code=03DC elementURI="SBIT.durationOfLastRun" type=00 *a code=055C owner=0019 element=03DC universal=3FFF unitName="second" type=07 size=0002 fl=05 8*e code=03DD elementURI="IBIT.durationOfLastRun" type=00 )k!i=*a code=055D owner=001A element=03DD universal=3FFF unitName="second" type=07 size=0002 fl=05 {! 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =bRunning ./Missions/Engineering/Homing_pursuit.xmlqqrrs%W<9s!)%=>I!{UF|U7iU;)|YYe8imGmؓCu>Ʌ>|C)j=-|; 5=)=@=I=`%?i==ɨEy=EQ9 I)IiUQ9ZU=Q ]A=IYim8[q\u4B9\yyy\}0 };}9\\ɩ9驅8] = ;i_F`__9_Y_):1>Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.118VAggregate::uninitialize Default:CallIridium9ZAggregate::uninitialize Default:CallIridium:B9Uninitialize.1 :DUninitialize GoToSurfaceComponent.={ Ku[7kAYY)EIEiEEIC iC䵻C >xxxx y)yIyiyyyyy z)zIzizzzzz)P=IE={m|m9Oim;)|qu: y)}>;iGC,>Ʌ>C|< =) 5>IT(?iɨ<;%Powering up %9)!i-Q9Z-ȥQ 5D=I59i5 qM= %! @II[Y\]FB9\Ye;y\e3; e;a\i\iɩii]u; u= u9i_}`y_y_y9_Y_)Iɱ8鱕Q9 )5);)!{ x[7kA :)EHIEHiELELICNd9iCN ۻCNKA9Cnw,=iDn?Drb r<))Q=iaqq!r%r%s%<9s%)%0>I-Q9 ]>{|^iQ:)|Q99iG q 5%! @ID;C+>Ʌ%?%C%< -L>)-8>I-=?i1ɨu}=}9 ;))f=i/) t= 7[7kA:)E4IE4iE4E4IC6 iC:1C:-&;C:)2=iD:?D:b :PI9{R|3i:)|i>Q9iBCp~>Ʌ>C 4?)@I$?ip!>ɨ<9 )8iQ9ZyP=Q v=I9i[ \ @B9\  y\r; <\ }>)`<\ɩ<驭8] 4= i_R`__9_Y_)Iɱ )Q9i8I,< l!j)j))k) k)i-:)p159pqqɪyy )Ii Nɫ >)>) V<)u <(n [7kA)&:)E,IE,iE,E,IC2iC2rC2pI8{o|2iD;)|98iGi>`C׀>ɅX>C< |=)=I?iɨ<8 8) i 8Z?:Q K=I9i [\9\) *<) k; g[7kA)E$IE$iE$E$IC&iC&ŻC*MY@C*5=iD*?D*b * <)B; qz &! @Iz>;)=:qqrrs1<9s˖).>IQ9{Ɇ|%iQ:)|Q9iC>iɅ>C=< \>)؇>IA?iɨ#<@ @9)< ) i%) <) D; q 7&! @I : [7kA5@);)E0IE0iE0E0IC2iC6C6v[>C6q1=iD6?D6b 6>Iu8{2|>i;)|i[GQC>ɅP>C< @=)@>I`%?iɨ i_`_CIB 9_B 199_9?Y_b);Iɱ9 !)%8i!I-; lQjYjY)kY kYi];)pae:pam8ɪiq Q9)8IiQ9 Nɫ; > q-&! @I;)m =) ;} \7kA)&:)E,IE0iE0E0IC2@iC2ٸûC2}?C2&=iD2t?D2b 64<)U;q]qYrereCPsa9sa)e&>Im9{|0i7;)|iGBC|>Ʌ>C|< L*?i)m;)}I}==iyɨ<騅8 )iQ9Ze_ q?&! @I:I;ɱ8Q9 )i!I! l)j)jQ)kQ kQiU;)pY]9paeQ9ɪaa m)mIi8 Nɫk:髭8 >)U =) :  X9(\7kA)&:)E0IE0iE0E0IC2EiC2<2C6?C6.=iD6T?D6b 6<<)My; qlP&! @IqYqararasa9seS{)ai9)]^; ssss t)tItittCtttA u)uIuiuuuuu v)vIvivvvvv w)wIwiwwwww x)xIxixY{y{) I{E pн|E *iE y;)|I M 8I iQ ] QC) :] z>Ʌ} `=} C5 < = W?)= ,2?IE ,q?iE ?ɨE =E M 9 I )U 8) ]Q E\7kA:)ETIETiETETICV]tiCV$CZ GCZ?=iDZ?DZb ZI8{s|)iQ:)|i3C>Ʌ>C = m>)m?IuH?iu?ɨu<}9 }8)iQ9Z >Q =I9i8[\>B9\y\?L; J<\\ɩ98]z x= i_`_ZIB l9_B 89_?Y_\b)I  ɱ  )iI lIjIjI)kI kIiM;)pQQpQQɪ]Y e)%8I%8i))) N1ɫ=k:= e>)% <)% Z=) : q] 0s&! @I] :t 9E_\7kA ;)E0IE0iE0E0IC6CiC6:C67C65=iD6?D6\b 6/<);)m9i yqqrrsUz<9s)/>IQ9{=½|ni:)|iGC>Ʌx?.C< @) K@I yN@i ?ɨ<8 )9iEQ9ZE[Q EP=IAiI[Q\ULB9\QQy\}|: };y\y\ɩ驅]= = i_½`_aIB 9_B 999_p?Y_b);Iɱ )iI ljj)k ki:)p  9p  ɪ8Q ]8)]Ieiaam Ni)-<ɫ5<=8 =>)% 0< q= z&! @IE D;) ; x\7kA ;)E(IE,iE,E,IC.iC.jC.Z3C.)=iD.?D2b 2<)};@ɐp<<)} ;iqqrrs1<9s˖),>I{|ki:)|Q9 iGؓC>ɅeP>e9C酽<  t>)>I?i<ɨ=@ @9 )iQ9ZNK;Q C=I9i[\9\Q:y\k ;9\\ɩ q%c&! @I%:)]-; 5= 59i_5`9_=iIB =9_=B =F99_E>?Y_Eb)E:IIIɱM8I Q)UQ9iU8IQ ljj)k ki ;)p p  ɪuq })yIi8 Nɫk:髙 >) =)% 1=) ;f$ %u\7kA:)E,IE q5LG&! @I5; qq r r s Uz<9s ɻ)9>I!{}|}i}><)|i[GC.}>ɅL>DC< L>) t>I 5>iɨ <9 )i8Z=Q J=I9i 8[ \ )E r=) <* \7kA)E$IE$iE$E$IC&4 iC&d컉C*FC*sR=iD*h?D*b * <); q:&! @I:)u:iqeqarereCPse1<9sa)e)>Im8{e|QPi;)|iG~> Ʌ=IC; ?) 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =UbRunning ./Missions/Engineering/Homing_pursuit.xmlq5q1r5r5s= <9s9)==>IE8{U|UJiU ;)|Y]Q9e:ii q`|! @IؓC~>Ʌ>!'D< =)=I =i|<ɨ%<%Q9 ))ug=)uAggregate::uninitialize Default1= 2= FAggregate::uninitialize Default:GPSq= 2= Uninitialize.= q= 4= NAggregate::uninitialize Default:Iridium=  5= Uninitialize.1E 1E 8E VAggregate::uninitialize Default:CallIridiumE 9E ZAggregate::uninitialize Default:CallIridium:BE 9E Uninitialize.1  : DUninitialize GoToSurfaceComponent.= | 7kAh)E)IE)iE)E)ICmiCm^ Cuh+Cu'2=iDu+?Dukc u9=)[=i )Z= q%i|! @I-;qa]qra]rOs1<9s)3>IQ9{.|HiD;)|9meɅ@>)'D) W==; e@=)ePh>Im?iiɨm=u8 q)}i}Q9Z ;Q G=Ii[\9\k:y\cz:\\ɩ驥:]w = e;i_.`__9_Y_):=.Started mission Default1:Aggregate::initialize Default9Initialize.1 :@Initialize GoToSurfaceComponent.q4 JAggregate::initialize Default:Iridium  5 Initialize. 5 @Initialize GoToSurfaceComponent.I i :ɦ @ɳ 1 8 RAggregate::initialize Default:CallIridiumq i  9q  9 VAggregate::initialize Default:CallIridium:B9 9 ɥA A E ;E 5E DUninitialize GoToSurfaceComponent.1E  E > I 1M 2M BAggregate::initialize Default:GPSqM 2M Initialize.M  3M @Initialize GoToSurfaceComponent. 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 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I= Q9 lM w:jI jI )kI kI iM :)pQ U 9pY Y ɪ 骹 ) I i N ɫ : >B Construct Wait.1  e$8kA)*N=)EDIEDiEDEHICJiCJo'CJ:CJ'=iDJ\?DJdc J Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =%bRunning ./Missions/Engineering/Homing_pursuit.xml)}^=)-IeQ9{}Gx|}i}*;)|: q ! @I:):ɅU؇>U#5DU< ]=)]>I]L=iaɨe:Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq 2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.118VAggregate::uninitialize Default:CallIridium9ZAggregate::uninitialize Default:CallIridium:B9Uninitialize.1 :DUninitialize GoToSurfaceComponent.= q=>8kAHOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.ɐ)E,IE,iE0E0IC2Y!iC2_(C2wHC2g8=iD2\?D2ec 65<)Rx=)}[= qN3! @I;q+qr+rǴs<9s˖)7>I{~| Yi;)| Q9i )`=):iI)eh< ) Q:): qt! @I)%:)1)-7:i }?iGC>Ʌ8>75D酹 =)`%>I>i=ɨ<=<9Powering up 9)iQ9Z_Q iCbڼCbӆCf=iDf%V?Dfsc f< qzU!! 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kQiY)pyypQ9ɪ骍Q9 )Ii Nɫ8 >): q p! @I! i i ) =颡 2   48kA:)E$IE$iE$E$IC& iC*uC*xxxx y)yIyiyy y y y  z )z Iz iz z z z zIu2=)<{H|hQi7:)|8 q=i]! @IAEɅeL>e=D)I >) =I >i ==ɨ ,=鬕 @ @騕 9 ) i Q9Z Q  #=I 9i [! \% ۼB9\) ) y\-  - ;- 9\1 \1 ɩ1 1 ]= ; = < = 9i_E H`A _A _I 9_I Y_I )M :Ia ia a i m :ɦm @ɳi m 8 m > m Q9ɴq q Iu 8Iu ; ) 8  48kA:)E$IE$iE$E$IC&]iC&ȻC& q-nIǕ! @I-;);ssss t)tItittttt u)uIuiuu=Auuu v)vIvivv v v \Av  w )w Iw iw w w ww x)xIxixY{y{I=):{|;i`<)|  Q9ɮ @ @i )M ɅeT>e=Dm< m =)u>Iu|?iu>ɨu<}9 )iQ9Z u8ɴuyIyI}; qՕ! @I; lkjj)k ki;)ppɪ8 )8Ii  8 Nɫ:! %c?hJG  F58kA)EIEiEEICiC2C ֖C ! >iD e@?D c =I}IQ9{|gEi>;)| ZDefineArg homing_pursuit.Speed = 1.000000 m/s- )5fDefineArg homing_pursuit.MassDefault = 0.000000 n/aEiAUunDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a AɅe@>e=Dm< m@=)mh>Iu=iu=ɨu=}8 ylDefineArg homing_pursuit.NumberOfLaps = 0.000000 count铉\DefineArg homing_pursuit.MinRange = 0.250000 m)yiQ9Z&>Q s=Ii[\ؼB9\y\: Y_ ) "- rDefineArg homing_pursuit.TimeoutDuration = 180.000000 min] IY e hDefineArg homing_pursuit.WaitDuration = 0.500000 minm i  fDefineArg homing_pursuit.kpAltitude = -0.080000 n/a ɕ  dDefineArg homing_pursuit.kiAltitude = 0.000000 n/a  U dDefineArg homing_pursuit.kdAltitude = 0.000000 n/a] IY e ^DefineArg homing_pursuit.MaxDepth = 45.000000 m" 6Construct AltitudeEnvelope. #% 0Construct DepthEnvelope.oM  yX858kA:)E$IE$iE$E$IC&iC*1;C*8C*=iD*H?D*ݟc * <)B=#6Construct OffshoreEnvelope.- e*n code=008A name="homing_pursuit:Pursuit:A" *n code=008B name="homing_pursuit:Pursuit:B.Pitch" E-Construct.*a code=0603 owner=008B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0604 owner=008B element=02B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 " ]*a code=0605 owner=008B element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0606 owner=008B element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0607 owner=008B element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0608 owner=008B element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0609 owner=008B element=02BC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 " m*a code=060A owner=008B element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=008C name="homing_pursuit:Pursuit:C.Buoyancy" F&Construct Buoyancy.*a code=060B owner=008C element=0126 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=060C owner=008C element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=060D owner=008C element=02BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 !# *n code=008D name="homing_pursuit:Pursuit:D.SetSpeed" FConstruct.*a code=060E owner=008D element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=060F owner=008D element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0610 owner=008D element=02BE universal=3FFF unitName="second" type=0B size=0003 fl=05 )%N=*n code=008E name="homing_pursuit:Pursuit:E.Pitch" G=Construct.*a code=0611 owner=008E element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0612 owner=008E element=02B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0613 owner=008E element=02BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0614 owner=008E element=027E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0615 owner=008E element=027F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0616 owner=008E element=02BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0617 owner=008E element=02BC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0618 owner=008E element=027D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=008F name="homing_pursuit:Pursuit:F.Point" GConstruct.*a code=0619 owner=008F element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061A owner=008F element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061B owner=008F element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061C owner=008F element=0280 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=061D owner=008F element=02CB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=061E owner=008F element=02CC universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 #1 *a code=061F owner=008F element=0281 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0620 owner=008F element=02C9 universal=3FFF unitName="degree" type=37 size=0006 fl=05 #% *a code=0621 owner=008F element=02CA universal=3FFF unitName="degree" type=37 size=0006 fl=05 #) *a code=0622 owner=008F element=000B universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0090 name="homing_pursuit:Pursuit:G.Wait" HConstruct Wait.*n code=0091 name="homing_pursuit:Pursuit:G.Wait:A_Timeout" D=Construct Wait. }u Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 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@I 颱 ) ; )i)):) :?i%G-QC5>Ʌ]@>]ID酽|< =) >I=i<ɨ<=9 )iQ9ZZ Yɴu8yI}8I}; lkjj)k kiQ; qhEH! @I0;)U<)<)p:pɪQ9-Q9 1)58I9i99A NAɫM:I UK? S8kA(\@X)EdIEdiEdEdICfmiCfCf|FCf=iDf?DjXc j<ɬO@)%/xYxYxYx] C yY)yaIyaiyayayayaya za)zaIzaizizmAziziziIN=)-<{|~:i<)| %>)> qN! @I: rɅe H>e ID酕 < @=) P>I P)?i =ɨ <騡 ) 8i Q9Z y A ɴA A II IM (< lQ kY jy jy )k k i ;)p 9p ɪ 8骕 8) '< u )q Iy i} 8 N ɫ < >= rgot command run ./Missions/Engineering/Homing_pursuit.xml tLoading Mission: ./Missions/Engineering/Homing_pursuit.xmld S8kA)2e=\)EIEiEEIC$iC-C'C !=iD ?D sc < 1i9)5=eialDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegpDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg);%!-hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg=)9ElDefineArg homing_pursuit.WpFarLon = -121.827730 arcdegmiiu^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s fDefineArg homing_pursuit.MassDefault = 0.000000 n/ainDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a%!-lDefineArg homing_pursuit.NumberOfLaps = 0.000000 count51]\DefineArg homing_pursuit.MinRange = 0.250000 mmIiupDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a qFT! @IhDefineArg homing_pursuit.ApproachDepth = 10.000000 m bDefineArg homing_pursuit.HomingDepth = 7.000000 mqQqrQr/sUz<9s˖)C>I8{|ai>;)|Q9 9iC>EɔAMpDefineArg homing_pursuit.ApproachTimeout = 30.000000 minU q}rDefineArg homing_pursuit.TimeoutDuration = 180.000000 minIhDefineArg homing_pursuit.WaitDuration = 0.500000 minɅ8>ID酝|; =)@>I==iɨ<騭8 )}y}fDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕiQ9Z:.Q _=I9i8[\ǽB9\y\ <9dDefineArg homing_pursuit.kiAltitude = 0.000000 n/a  dDefineArg homing_pursuit.kdAltitude = 0.000000 n/a\) \) ɩ- 91 ]5 0= 5 #= 5 9i_= `9 _A _A 9_A Y_A )A m Ii u ^DefineArg homing_pursuit.MaxDepth = 45.000000 m) j=I 8" 6Construct AltitudeEnvelope. l w:j j )k k i %<)p :p ɪ M Q9 M 8)U IQ iU 8Y ] #} 0Construct DepthEnvelope. N9 ɫE # 6Construct OffshoreEnvelope.H zS8kA- 6)EHIEHiEHELICNYiCN 5CNU)V=lCN&"=iD~N?D~Rc ~GuConstruct.)w=#1 #% #)  HConstruct Wait. DConstruct Wait. qu[! @I}; u Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =bRunning ./Missions/Engineering/Homing_pursuit.xml)=E=q]qYr]r]sa9sa)e4>ImQ9{u.|uHi}7:)|90Ʌ>ID; `=)H>I?i T>ɨ ; @ @9 )u8iX;Z$Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.118VAggregate::uninitialize Default:CallIridium9ZAggregate::uninitialize Default:CallIridium:B9Uninitialize.1 :DUninitialize GoToSurfaceComponent.=j T l 9j j )k k K9i 7;)p 9p SA ɪ ) I% i5 :9 9 Na ɫm ;m 8 u >) 9 T8kA)E&SAIE&ٮA qh?a! @I#;)UO=qqrrۋsW<9sS{)->I{O|=i:)|ɮ鮱`Ʌ]?] JDe< e=)m>Iml"?im@=ɨm'j< lj73j)k k 9i0;)p9pɪu< ;)I8i8 NɫQ: >)m V=) /<  1T8kA)E$IE(iE(E(IC* iC*w껉C*J =C*\0=iD*a?D*-c .< q6|g! @I6;)b=i> )MT=);q/{qr/{rTs <9s˖).>I{D|:[i;)|=kɅ} 5?}JD酅 =>)Љ>I0p>i|;ɨ <騕8 :)8iQ9ZQ M=Ii[\ƽB9\;y\{: ;9\\ɩ8]{ = 9i_D`__9_Y_);i!! )I)-9))))1 U8IU8iQɱYY ]9)aieIe js ljhɹj)k k\9i;)p9pɪM U8)U8I])U H= q ӹm! @I :) :)5 N ɫ k: 8  > MT8kA)E(IE(iE(E(IC*IiC. 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@I & 8r|8kA)E$IE$iE(E(IC*iC*IλC*O>C*r+=iD*Eύ?D*d .<)M;)];)mQ:qqrrCPs9s˖).>I{|"Ni:)|iQCz>Ʌp!>VD< =)>IL=iɨ;Q9 )iQ9Zh_ ɴII7; lkjj)k ki;)ppQ9ɪ8 )Ii8 N9Nɫ:8 >)< q Wz! @I D;)M :i h" |8kA ;)E(IE(iE(E(IC*OiC*y׻C*4C..=iD.;ύ?D.d . <)E;)5:)=7:qaqararasmUz<9si)m)>Iq{}Ǝ|}/i}:)|y:iHCy>Ʌ>VD<  =)L>I=i =ɨY<@ 9=rgot command run ./Missions/Engineering/Homing_pursuit.xmltLoading Mission: ./Missions/Engineering/Homing_pursuit.xml 8)i9Z )} ;i e ia m lDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegu q } pDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg 鑉  hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg )  lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg i  ^DefineArg homing_pursuit.Altitude = 10.000000 m   ZDefineArg homing_pursuit.Speed = 1.000000 m/s   fDefineArg homing_pursuit.MassDefault = 0.000000 n/a i  nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a) k+|8kA:)E$IE$iE$E(IC*JiC*C*9C*7=iD*Gύ?D*d *I){E–|Ef9iE7;)|IM9iUGY]>#6Construct OffshoreEnvelope.-  q|V! @I:Ʌ> VD%=< %=)%D>I-?i-|;ɨ-<59 5)E=)AiMQ9ZM%Q UT=IU9iQ[\/B9\#1 #% #) )V= HConstruct Wait.*n code=0092 name="homing_pursuit:PowerUpDAT" *n code=0093 name="homing_pursuit:PowerUpDAT:A.Wait" I Construct Wait.*n code=0094 name="homing_pursuit:PowerUpDAT:A.Wait:A_Timeout"  aq Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 = bRunning ./Missions/Engineering/Homing_pursuit.xml i ) q=4/ ƿ|8kA)E$IE$iE$E(IC*iC*DC*7t;C*j.=iD*Nύ?D*d ()U; q8Պ! @I)u<):q}qrrs9s)->xxxx y)yIyiyyyyy z)zIzizzzzz)} Ʌ >VD= p!>)=I\=i >ɨ%;%8 %8))iBAggregate::uninitialize Default1% 2% FAggregate::uninitialize Default:GPSq- 2- Uninitialize.- q- 4- NAggregate::uninitialize Default:Iridium-  5- Uninitialize.1- 1- 8- VAggregate::uninitialize Default:CallIridium- 95 ZAggregate::uninitialize Default:CallIridium:B5 95 Uninitialize.15  :5 DUninitialize GoToSurfaceComponent.=5 ,6 j|8kA:)E IE$iE$E$IC&iC&uMûC&h.=C&)=iD&Qύ?D*d *< qS! @I)O=)u#<)q}qyr}r}CPs}1<9sS{)F>IQ9{e|QPi:)|Q9i#C|>ɅH>VD< `=)>I?i`=ɨ<9Powering up 9)iQ9ZeQ p=I9i[!\%4B9\)-Q:)5HOpening uart, block timeout 10ths=20=$resume:Powering up=DCycling power to configure device.99ɐ99y\-~: <P<\\ɩ9驙]P 0= i_e`__9_Y_)"  ) I8{=|Ni:)|i`C>Ʌ%?%GVD%< -@)-U@I-8@i|>ɨ<: ;))U q RO! @I ! ) I{|8CiK;)|iGCv>Ʌ>KVD >)>I`d>iɨ;8 8)8iQ9ZQ S=I9i[ \ 1B9\  )m5< q̠! @Iy\ ; <<\\ɩ9] I = i_`__9_Y_):iiɱ )i8I ljj)k  k i :)p 9pɪ8 )%I%i%)8 N9Nɫ:髝 > ] >) wI9{+|Ri:)|i G `C>Ʌ >SVD)M;M >)>IT>i@->ɨ= 9 ) i Q9Z4dQ <=I)i-8[1\54B9\1=k:y\=8,; =;=9\A\AɩE9E]Mg< =  } >) IQ9{| 6i:)|i G C߁>Ʌ?bVD% = % :?)%?I-܆?i->ɨ-;59 1)m;)}=i#;Z]=Q j=I9i[\/B9\y\U  <\\ɩ9] 0= 9i_`__9_Y_)<)0;išiɱ鱭Q9 ;)8iI; ljj)k ki:)p ;pɪ )!I!i)M;U NY9NYɫYa e>)m < >i tV ˡY}8kA ;)E(IE(iE(E(IC*iC*BC*BC*<6=iD.Hύ?D.d . <)-; qoB! @I)E;)U:qsqrsrwsUz<9s˖)I>I{n_|b iD;)|iGQCF>Ʌ t>hVD< >)>I>iɨ;)U;Q9 Y)]ieQ9Ze)=Q e?=Iaim[i\m%BuHOpening uart, block timeout 10ths=20}*Querying output modes}e = >) X= q M! @I i >6\ d;s}8kA:)E$IE$iE$E$IC&iC&,TC*6C*uC=iD*\ύ?D*d * <)m^<):)Q:qAqArArAsEV<9sES{)E%>s s s s  t )t It Ait)=;tQtQtQtQ uQ)uYIuYiuYuYuYuYuY vY)v]MAIvYivavavave\Ava wa)waIwaiweAwawiwiwi xi)xiIxmyCixiY{iy{iI={ z|i;)|8iG%`C-<>Ʌ->-lVDM|; Up`?)U?I]?i]L*?ɨ] ) V=i >lc ь}8kA)E$IE$iE$E$IC&iC&C*8C*'=iD*S̍?D*d * )m4< q! @I;ɅH?~VD< 4?)-@I5%$@i5?ɨ5>==9 =)AiEQ9ZE7Q MT=IT )= =i >P)i l}8kA)E$IE$iE$E(IC*;eiC*C*O7?C*%=iD*Jɍ?D*Td *<)%;):)%Q:qEqArErMsI9sI)IIUQ9{e|QPi;)|Q9i[G q/Ǫ! @I;C>Ʌ=>=VDE=< E8n?)E?IMH?iM>ɨM)] ;  p 1}8kA ;)E(IE(iE(E(IC.0 iC.O'ۻC.EC.,=iD. 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R=i #% 0Construct DepthEnvelope.̃:# 78kA:)E$IE(iE(E(IC*iC*ɻC*gC*#=iD*튍?D.Nd .<)b:#=6Construct OffshoreEnvelope.- EConstruct." -"  F&Construct Buoyancy.!# FConstruct. GConstruct. q7! @I ;)%r=GConstruct.#1 #% #)  HConstruct Wait.IMConstruct Wait.)< o Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =bRunning ./Missions/Engineering/Homing_pursuit.xmlq+qr+r˴s <9sI)Q>x)x)x)x) y))y)Iy)iy)y1y1y1y1 z1)z1Iz1iz1z1z1z=Cz9I=)r<{-|-e-i-<)|158i=G=`CEz>Ʌ>\D酽< =)`%>I|?i|=ɨ< 9  8) i 8Z eAggregate::uninitialize Default1} 2} FAggregate::uninitialize Default:GPSq} 2} Uninitialize.} q} 4} NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9 ZAggregate::uninitialize Default:CallIridium:B 9 Uninitialize.1  : DUninitialize GoToSurfaceComponent.= XA# 8kAi >)&=)ETIETiEXEXICZ=iCZ}CZDCZz*=iDZꊍ?DZNd ^<)d~O@ q r! @I :ɬ|)U=HOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.ɐ)X=qqrrs1<9s˖)C>I8{`|i>;)|9iGC>Ʌ5>=\D== =>)Ep!>IE=iMP>ɨM) =) B< q- b! @I) 5 >sG# A8kA:i )E(IE(iE,E,IC..iC..%C.8C.&=iD.?D.Nd 2#<) <);)m9qǨqrǨrs9s)<>I Q9{=9|=7+i=;)|AM:iUG}3C3>Ʌ@>]D酅< D?)@Ie@iL>ɨ<騹 ><)i5*;Z5uQ =Z=I9i9[A\EB9\AEQ:y\M M qE 骮! @IE >;) < = >PM# 88kA=:@)E(IE(iE(E(IC*<4iC*nܺC*(C.=iD.㊍?D.Nd .)(<);)m:qmHqirmHrmgsq9suS{)u)>I}8{|PDi;)|Q9iCd>Ʌ> ]DY \>)`d?I6?i8?ɨ3=9 ) iQ9 q%f$! @I%:Z5>̼Q 5L=I9i9[A\E B9\AEk:y\I M;I\I\IɩI)S<]~R= = i_`__9_Y_);iiɱ!! !)-Q9i-I-; lYjYjY)kY kYiY)pae9piiɪmq q)yIyiy N9Nɫ;髵 >) L< ] >,fT# sR8kA)E$IE$iE(E(IC*viC*C*,C*!=iD*/?D*Nd *IQ9{|0i>;)| 9iG}{>Ʌ}?}]D酅|; 40?) y?IF?i?ɨ<騕8 )iQ9Zǧ) ; y ;)m:qQqrQr3s9s)0>I8{2|>i;)|Q9iGCZ>ɅH>&]D; ?) 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 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Q:Dv< '8kA)E$IE$iE$E$IC&uXiC&jC*|0C*(=iD*S[?D*evd * <Iu9{}|}~:i}7:)|y}Q9ɮ@鮅@ FɅD< =)\>I=i|;ɨ   )iQ9ZQ N=I:i%[!\-ڿB9\))y\-{ -;59\1\1ɩ19]={; == E9i_E`A_I_I9_IY_I)IIQiQQQQɦ]@ɳ]8Y ]> aɴaaIaIe; lqkqjqjq)kq kqiy)py}9pɪ8骉 )Ii Nɫ髭 _>)m) Q:N< JA8kA)E$IE$iE$E$IC&iC&( C&8C&-"=iD*U[?D*dvd *IUQ9{|Wi;)|8/ Ʌ=>=DE|< E=)E@l>IM==iM<ɨM` ɴ8II#; lkjj)k ki;)p9pɪQ9 8)8Ii Nɫ h>)e) 7:hi< Z8kA)E$IE$iE$E$IC&iC*C*,'6C*+=iD*D[?D*`vd * <\ q =! @I );)u:)7:qEqArErEsMV<9sI)IIU9{ѵ|_i;)|8i>ɅD酥< =)`d>I=iɨ;<<騵9 )iQ9ZQ W=I9i8[\B9\k:y\O: <9\\ɩ9]a $= 9i_ѵ`__9_Y_):Ii:ɦ@ɳ > ɴII  ; lkjj)k  k!i%0;)p!!p))ɪ)1 1)9I=8i=AA NIɫMQ:U8 US>)eImQ9{t|{i7;)|9 %>)!>:ik{>Ʌ`>D酵< =)=I?]nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/alDefineArg homing_pursuit.NumberOfLaps = 0.000000 countiɨ <Q9 )iQ9Zf=Q I=I9i\DefineArg homing_pursuit.MinRange = 0.250000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a[\%ҿB9\!%;y\%t: -;)\)\)ɩ-91]5I< 5= 59 9MIMhDefineArg homing_pursuit.ApproachDepth = 10.000000 mi_]t`a_a_a9_aY_a)iIm8} ybDefineArg homing_pursuit.HomingDepth = 7.000000 mɔpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min lw:jj)k ki;)p9p8ɪ骵8  rDefineArg homing_pursuit.TimeoutDuration = 180.000000 minI)Ii88 Nɫk: i>hDefineArg homing_pursuit.WaitDuration = 0.500000 min  fDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕ%dDefineArg homing_pursuit.kiAltitude = 0.000000 n/a- )5dDefineArg homing_pursuit.kdAltitude = 0.000000 n/aEIAM^DefineArg homing_pursuit.MaxDepth = 45.000000 m"]6Construct AltitudeEnvelope. #0Construct DepthEnvelope.#]6Construct OffshoreEnvelope.- JConstruct Wait.IConstruct Wait.i q= GuE! @I9 )E `= m 1p Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =m bRunning ./Missions/Engineering/Homing_pursuit.xml)- P=\< e8kA?)E$IE$iE$E(IC*iC*IC*FC*IP=iD*4[?D*lvd *<|)<)u:)7:qea]qarea]reOse <9smS{)ixxxx y)yIyiyyCyyy z )z Iz iz z z z z  YI} ={|Vi;)|Q9- q%iI! @I%:ɅU>UD]< ]`=)]=Ie@l=ie<ɨe^Aggregate::uninitialize Default1525FAggregate::uninitialize Default:GPSq525Uninitialize.5q54=NAggregate::uninitialize Default:Iridium= 5=Uninitialize.1=1=8=VAggregate::uninitialize Default:CallIridium=9=ZAggregate::uninitialize Default:CallIridium:B=9=Uninitialize.1= :=DUninitialize GoToSurfaceComponent.=E)- O=pw< 8kA:)E$IE$iE$E$IC&iC*bC*;C*.=iD*Z?D*`vd * <%HOpening uart, block timeout 10ths=20%$resume:Powering up%DCycling power to configure device.!!ɐ)))]<)q)Q: q5]M! @I1qaqararasa9se˖)m*> yssssC t)tItittttt u)uCIuiuuuuu v)vIvivvvvv w)wIwiwwwww x)xIxixY{y{I]={|87i7:)|!!i!)):Ʌ>D|; >) =I|=iɨ < 9Powering up 9) i Q9ZaIQ9{.q|Li:)|ɮ@UpɅ@>D=< P>)>I;?i<ɨ)u )=i )= 7: q 8Y! @I F< |8kA:)E$IE$iE$E$IC&iC&:C* C*=iD*<[?D*vvd * <);):) 7:qE/qArE/rEsE1<9sA)E%>IM8{e |e|"ieD;)|im9u9i}G}Ck{>Ʌ>D配 = ?)0p?I=?i;ɨ;騽; 8)iQ9ZQ j=Ii[\տB9\;y\  <9\\ ɩ 9 ] 3= 2= 9i_ `9_9_99_AY_A)E;IiM8ɱII Q)U8iQIU; ljj)k ki:)pp8ɪ8骙 )Ii8 Nɫ;8 f> Q)< q +]! @I :i )% :8< + 8kA)E$IE$iE$E$IC*/iC*8C*f!C*_=iD*[?D*tvd *<);) ;)7:qa]qra]rOsV<9s)9>IQ9{2|>i7;)|Q9 Q9iGC>Ʌ? 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4Y_ 9d) -< i ɱ ) i I ; l! j) j) )k) k) i- '<)p1 5 9p1 5 Q9ɪ9 )M W=e Q9 e )e 8Ii im 8q u N ɫ < >XaM V69kA)E4IE4iE4E4IC:&iC:%້C:DC:w-=iD:?D:}d :P<)=<)< qg! @I;):i q=q9r=r=}s= <9sE˖)E,>IEQ9{]Y|]M ieD;)|ae9iiu[G}`C}K~>Ʌ>PD酅;  5>)X>I=i 5>ɨ;)<N< 9)iQ9Z =Q =I 9i 8[)\-B9\)-r;y\5 =&<9\9\9ɩ9A]E= ER= Ii_MG`q_uB u,;_uMB u:9_}H?Y_}}d)};Łiɱ鱉 )iIQ; ljj)k ki:)ppɪ8: 8)Ii N ɫ5;58 5>)5 < NQ1i } =} } } $| B<| | jw@i| ]@I~ i~ ~ ~ ~ ~  ) I i  >t{M (p69kA)E$IE$iE$E$IC&siC&C*iOC*<=iD*?D*d * < q-u! @I- ;)}=颵=)Q:i )5=qvqrvrKsW<9s)2>I{v|6i7;)|iGoC3>Ʌp>TDE|; E@l>)uP>)ɨ+=<%9 !))i-Q9Z58:Q EJ=IE0;iI[Q\Q9\QU:y\]x ];Y\a\aɩe9e8]mx; m= X;i_`_B :_MB X9_) ?Y_d)#;ŝiɱ8鱡 )Q9iI; ljj)k ki:)p9pK;ɪ  9 )8Ii9 NAɫEk:I U>)= < qM ! @IM :RM H69kA :)E(IE(iE(E(IC.=iC.HEbC.XGTC..=iD.?)R;D.d V)>;xxAxx y)yIyقAiyyyyyZA z)zIzizzzzCzIU`={]Ǝ|]/i]7:)|aeQ9aimGu`Cuz>Ʌ=UDM< U@?)U|@IU @i] ?ɨ]<]Q9 a)ii )E U=4nM )\69kA ;)E,IE,iE,)R;E,IC^3iC^ĺC^+KCb&=iDb?Dbd b<):)D;i! Aq=a]q9r=a]r=Os=V<9sA)E6>IM8{]–|]f9i];)|aaaiiuCu>);Ʌ`>YD< ʪ?)t?I>?iD>ɨ<8 ) 8 qEl}! @IE ;iM;ZM`:Q Mn=IQiu8[y\}B9\yQ:y\Ɛ <\\ɩ驉]7޼ 7= i_3`_B :_MB 49_ ? 4Y_d)ŭiɱ89 )iI; ljj)k ki;)p9p!%Q9ɪ!-8 M)U8IQi]]]8 Naɫmk:m8 u>) =M 69kA:)E(IE(iE(E,IC.iC.Y-C.HFC.;#=iD2?D2Fd 2'<)R;)%;)k: q5! @I5;iA YqHqrHrcs<9s)1>IQ9{|ji7:)|8i5G`Cz>)<Ʌ=ZD@-= Hj?)f?IΩ?iɨ= 15< =:)Ai")e <_M r69kA)E$IE$iE$E$IC&iC&ǻC&;C&(=iD*?D*sd *<)V;ZL@ɬX): qg,! @I%:):ia q bqr br"sW<9s):>I{2|>iQ:)|Q9 Q9iG#C>Ʌ%=%\D%|; %"?)-?I-@i5>ɨ5;5Q9)<)<I1i"?d;Ɉ ʑ<)[Ii8m9A@ɉq>&Z@ 4?)2@I4?i<@Ɋɋ5У|6<1?^查`?Ψ 5bg?)5M}>5NDտeLB&ǎ0I5 i5> 5Z&|!F1Q$?h @5@5s%>Y]<@ه]@]s%> e=)aimQ9Zm3=Q uO=Iu9iq[y\}B9\y}k:y\Y ;9\\ɩ9驍8]8 = ;i_ќ`_B :_HMB S9_ ?Y_ed) ;iɱ 9)8iI; l j j )k  k i5;)p19p99ɪ9A A)IIIiQU8Q NYɫeQ:eDDAT.homing_target_range 0.500000 mm)e h={M *69kA)E$IE$iE$E$IC&iC&C*?C*{9=iD*?D*d * <)Z; q-! @I57;@AA);) ;q}?Dqr?Dr sYX<9s˖)->I8 i>{|Ti;)|8iGC }>Ʌ]$4?]eDe e t?)e?Imd?imn?ɨm)u < qM ! @IM :SM  79kA)E$IE$iE$E$IC&iC&C*3C*/=iD*<?D*d ()R;):MNQ1);i}'=}'=}=}V|FD<|FRT=|v@i|]@I~i~~~~ ~   ) Ii>q}q& qrq& rosؠ<9s)I{Y|M iX;)|i> >i{H`C>ɅX?uD@l= ?)  @=I=h#@iE?ɨEI q= 1! @I= ;) <mM Z#79kA)E$IE$iE$E$IC&۟iC*ӻC*55EC*@=iD*?D* d * <)R;IXiX):):q}qrrs1<9s˖)IQ9{꼽|Shi ;)|8iG#Cy> >iɅ>yD);< 6?)L?I?iɨ5= 9 9 qER! @II)M;iMQ9ZuՈQ u?=Iu;i}8[y\B9\y\js; ;9\\ɩ驱]C= = i_ݽ`_B [:_BMB 99_ ?Y_?d);iɱQ9 )8iI; ljj)k ki;)ppɪ%8%8 -)U;IQiY]]8 Naɫa髅 >) =M <79kA:)E(IE(iE(E,IC.iC."AC.6;C.+=iD.?D2}d 2#<)R;):)Q: q5! @I1qAqrArsW<9sɻ),>I{|1i:)|Q9i`Ci >);Ʌ)m <XaM V79kA>@ ;)E,IE,iE,E,IC2iC2лC2FBC24;=iD2m?D2d 0)R;) qN5! @I:):qǨqrǨrsؠ<9s˖)4> >i)D;xxAxx y)yIy߂AiyyCyyy z)z Iz iz z z z z Il={|87iD<)|i[G#C >Ʌ=D< ?)d$@IE@i ?ɨ%;! %@%9 -9)M8iUQ9Z]Q ];=I]9iY[a\eB9\aek:y\mx m;m9\\ɩ:驍8]h = i_`_B i:__MB 99_ ?Y_d) ;8iɱ 9)Q9iI ljj)k ki)p  p ɪ  Q9  ) I i  ! 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =m bRunning ./Missions/Engineering/Homing_pursuit.xml) j=k;Q mD9kA:)E$IE$iE$E$IC&]iC*(C*P4C*r9=iD*(?D* d * qM! @IM:)u<))Q:qE?DqArE?DrE sEW<9sE)E%>x1x1x1x1 y1)y1Iy1iy1y]CyYyYy]XA zY)zYIzaizazazazaza)Ʌ>D|< %>)% =I%?i-ɨM|Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:IridiumE  5E Uninitialize.1M 1M 8M VAggregate::uninitialize Default:CallIridiumM 9M ZAggregate::uninitialize Default:CallIridium:BM 9M Uninitialize.1M  :M DUninitialize GoToSurfaceComponent.=M j} ^ l} 9j} j} )ky k} ,c9i} ;)p 9p SA ɪ Q9 ) I i= <= 9 NA ɫM :I M >PBQ t E9kA@ :iP r>)ESAIET3aIQ9{l|);>:ioC|>Ʌ >D%; %@=)%=>I-T(?i)ɨ-<<595Powering up ];)YieQ9Zer;Q m\=Im9ii[q\uB9\quQ:y\K; <9\\ɩ9]< (= 9i_l`__9_Y_)ɿ)9ɼ 8)8ɻ1I59i=ɱ=89 A)QiUI]mjmb lijmS{ji)ki km\9)}{=iu0;)ppɪ;HOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.ɐ   ;) 8I i 8! ! N) q= ! @I= :ɫE k;A M >)E W=4nHQ )\#E9kA ;)E,IE0iE0E0IC2liC2=C2\,IU8{]=½|]ni]k:)|aeQ9e8imGu#C|>Ʌ>D酅< >)`>I|>iɨ;)<Q9 :)i8ZPQ Q=I%9i%8[)\-B9\)-k:y\-4 5< qEA! @IE;U;\Y\YɩYY]e< e!= e9i_e=½`i_i_i9_qY_);ɿ齙)鿝9ɼ Q9)Q9ɻIQ9iɱ鱩 ;)i8Ij lj"j)k ke:i;)p9pɪ8%8 %8))I-8)U <) :i I )1): qe|"! @Ie:):):-FThruster uart error: serial timeout1-(Communications Fault!  i? 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Y_! )% :) I Q9 l w:j j )k k i :)p! % 9p! ) ɪ) )m >SH:= !)!I)i))1 N1ɫ=:A E>@l 2IJ9kA:). <^i\blDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegfd)ExIExiExExICz~$iCz1ƾC~R)C~hD=iD~e?D~Te ~<pDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg%!-hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdegu)q}lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdegi q ! @I:^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s fDefineArg homing_pursuit.MassDefault = 0.000000 n/ai%nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/aUQ]lDefineArg homing_pursuit.NumberOfLaps = 0.000000 count铍333333?\DefineArg homing_pursuit.MinRange = 0.300000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a   hDefineArg homing_pursuit.ApproachDepth = 10.000000 m %bDefineArg homing_pursuit.HomingDepth = 7.000000 mɔpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min %rDefineArg homing_pursuit.TimeoutDuration = 180.000000 min-I15hDefineArg homing_pursuit.WaitDuration = 0.500000 minfDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕ)W=dDefineArg homing_pursuit.kiAltitude = 0.000000 n/a dDefineArg homing_pursuit.kdAltitude = 0.000000 n/aI  ^DefineArg homing_pursuit.MaxDepth = 45.000000 m"E6Construct AltitudeEnvelope. #0Construct DepthEnvelope.)9# 6Construct OffshoreEnvelope.q T qr T rs9sS{);>IQ9{Ɇ|%iD;)|98iQC|>- Ʌm>mDq u>)u=I}`=i}==ɨ}<騅8 8 @Construct.))iQ9ZLa;Q X=I9i[\9\y\ <9\\ɩ9]L; *= i_Ɇ` _ _ 9_Y_)I8 l!! -! 5jaja)ka kaim%<)piipqqɪu@&Construct Buoyancy.a  AConstruct.  A Construct. B Construct.i >!!1 ] !!% ] !!) e Bu Construct Wait.S *I:骝 = ) I i N ɫ k:髹 >) N=I Construct Wait.  Yn Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 = bRunning ./Missions/Engineering/Homing_pursuit.xml q ! @I ;%l Dݲ9kA)E$IE(iE(E(IC*iC*:C*{C*t=iD*?g?D.ETe .<) )5=q= qr= rsW<9s)5>I{Ʌx>úD酙 =) >I`%?iɨ<鬭@ 騭9 )iAggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.118VAggregate::uninitialize Default:CallIridium9ZAggregate::uninitialize Default:CallIridium:B9Uninitialize.1 :DUninitialize GoToSurfaceComponent.= >i! 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =bRunning ./Missions/Engineering/Homing_pursuit.xml)EIEiEEIC؆iCC|C=iDi?D-f =MO@ɬQ)]< q! @I)):quQqqr}Qr}/sy9sy)}3>x x Ax  ) e;x y )y Iy iy y y y y ^A z )z Iz iz z Az z z I- _={u r|u ciu <)|y } 8 ^Ʌ L> D < >) =I ?i <ɨ ; Q9  8)A iM Q9ZM z;Q U D=IU 9iQ [Y \] B9\ /Aggregate::uninitialize Default1 2 FAggregate::uninitialize Default:GPSq 2 Uninitialize. q 4 NAggregate::uninitialize Default:Iridiumi   5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9 ZAggregate::uninitialize Default:CallIridium:B 9 Uninitialize.1  : DUninitialize GoToSurfaceComponent.= IQ9{–|f9i7;)|98i3>Ʌ->-D-|; 5 5>)5>I5T>i=|=ɨ=?<=8EPowering up)UZ= <)iQ9ZQ J=I9i8[\B9\Q:y\]?; ;9\\ɩ驱]]? = 9i_–`__9_Y_)#< ɿ )9ɼ )ɻIiɱ8iAe < e:)iim8ImK]u qy9kA:)E$IE$iE$E$IC*kiC*O:C*o7=C*P=iD*o?D*A+f *<)jN=)V= !q?Dqr?Dr sW<9sS{)9>I{慽|$iK;)|  9ɮ@@:i%[G-`C->Ʌ>D q ! @IX;)O=u< }X>)p!?I>iɨN=i鬵@ M@U< <)8i5 <)Y Z 4leu I9kA:)E@IEDiEDEDICFiCF#NCF%I){E|E'iM7;)|IU:U8i]Ge~Cmv>):Ʌ?DU< =) >IX'?iɨ>=9 )iQ9ZFQ ?=I Nɫ:%Q9 %>|]mu 9kA:)E$IE$iE$E$IC&ViC*Z:C*!:=C*oC=iD*{m?D*G.f *);)qHqrHrcsUz<9s)2>I{9|7+i>;)|9) ;i GBC>Ʌ|?D >)Ph>I ? qK#! @I:iɨp=騭8 )i9Z,Q &=I9i[\9\:y\κ ;\?\?ɩ9]= = 9i_Z`_C <_%B %F<9_%j? %4Y_%2f)- ;)ɿ1a)im:ɼi)e r< mQ9i ) <ɻ I 9i ɱ 鱱 9) 8i I R=ik bk k 8o?j O l j ej )k k V:i 4<)p  9p % Q9ɪ% 8S% y:% = = >)M tu 9kA:)E$IE$iE$E$IC&iC&\;C&=C&=iD*b?D*9f *<)): q]HOpening uart, block timeout 10ths=20*Querying output modes 9 )] r<{e o|e 2ie 7:)|a e Q9m iu [Gu ~C Ā>Ʌ t ? 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 =%bRunning ./Missions/Engineering/Homing_pursuit.xmlq/{qr/{rTs <9s)->I9{]|Ki:)|8iG#C#>Ʌ>D >)|=Iȋ>i =ɨ;Q9  <)%i%Q9Z-Q -Z=I-9i)[1\5nB9\9Q:y\ <\\ɩ]< "= 9i_]`__9_Y_):1>Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.118VAggregate::uninitialize Default:CallIridium9ZAggregate::uninitialize Default:CallIridium:B9Uninitialize.1 :DUninitialize GoToSurfaceComponent.=) X= q- ! @I- ; Y ] >e HOpening uart, block timeout 10ths=20m $resume:Powering upm DCycling power to configure device.i i ɐi i ~ o9kA)E&SAIE*)Y=xxxx y)yIyiyy!y!y!y! z!)z!Iz!iz!z!z)z)z)Iz={[|4i<)|iGQC>Ʌ?D|< @=)>I>i`=ɨ=<9Powering up 9) i Q9Z He:Q  %=I i 8[ \ 9\! ! y\%  % ; q5 m! @I= : \ \ ɩ 9驩 ] } < i_ [` _ _ 9_ Y_ ) :ɿ 8 ) ɼ Q9 ) ɻ I Q9i ɱ ) i 8I r;) x=ik k k ?r?j  l j kj )k k (-:i 7;)p! % 9p1 = 9ɪ9 M : U Q:)Y IY ie 8a m 8 Nq 9Nq ɫu :y } > y \ e9kA)E$IE$iE$E$IC&iC&Vu:C*m)= q%! @I%;s s ʂAs )UɅ} 8>} D酅 < >)% >I ?i =ɨ %=騭 9 ;) i 0;Z Q  0=I i [ \ tB9\  y\ X:  ; 9\ \ ɩ <驹 ] -׻ = 9i_ ` _ _ 9_ Y_ ) :ɿ  )  ɼ  8! )! ɻ! 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=iDZa?D^ag ^II{]D|eie;)|aaimGuoCuz>Ʌ?D酝< @>)=>I=i=ɨ<騭8 9);iQ9Zy=Q =I9i8[?B\XB9\H Ey\5l <;\\!ɩ%9!]%¼ -A= )i_-N`1_5y"C ];_]ٕB e;9_e6l?Y_eg)e;ɿiq)qqɼq u:y)yɻyIyi}8ɱ}鱽9 Q:)8iII)] M=  W[Y:kA)E$IE*k =iE(E(IC*miC*o;C*3C* q! @I):)}:q! qr! rs1<9s˖)->I9{6| 5i0;)|9iG);`C<>ɅZ?D< >)%H>I%=i%ɨ-t<-@ )-9 5Q9)58i];Ze~Q eU=Ie9ie[i\mdB9\imQ:y\u: u y;)8I8X i < 8 Q: N 9N ɫ :髩 >)m Y= q %ߛ! @I :) ;' r:kA:)E(IE(iE(E,IC.aiC.@;C.9%C.u););q: qr: rWsW<9s))e;ssʂAss t)tItittCttt u)uCIuiuuuuu v)vIvivvvv v w)wIwiwwwww xA)xIxixY{y{ >)- N{ b| i ;)| 8i G oC 3>Ʌ] P)?] D)- /) @>I >i \=ɨ = Q9I Ai :) i Q9Z DIQ9{Ǝ|/i:)|Q9iGBC{>ɅU?]D]; ]=)e=Ie>ie<ɨmL e:kA:)E(IE(iE,E,IC.\iC.;C2VV)C2q_ qr_ rG s <9s)/>I{|e-i:)|:iG#C#>Ʌ6?D< `=)=I=i%ɨ%%<%YU W^= <) 8I ) ;X i < N 9N ɫ 髱 >)M : q E! @I ;8% :kA :)E0IE4iE4E4IC6 iC6*;C6XR*C6bNQ1q% q)r- r-{ts-V<9s))-@>I1{=v|EiE:)|IIiUG]QC]>ɅeT(?eDe< m=)m=Im`>iqɨu;i}=}=}O }|V<|0N=|ft@i|ہ@I~i~~~~~ )Ii><%=t>)<)MpCIM18iMCMlM<ɈM>M.: MH=)Mh9IM|:iMh8M4:M @ɉMz0M @ Mw)Ma?IMwiIIIɊIɋ5dQB 5_#)5 5ݼ?k?I5bi?i5 5Tj T?f^濗Ob5.d@5ɾه.d@ɾ =)=)AiEQ9ZMS b: "=I i )E :) L=) ; =)I8I=i!>Xaie<8 N9NɫDDAT.homing_target_range 0.500000 mI8{CA|i>;)|9i[G)-;-oC53>Ʌ8/?D酥< ==)>Ip`>i=ɨ<鬱 騵9) ]<)e8i  _:kA:)E$IE$iE$E$IC* iC*;C*.C*dIEQ9{eF|e7ie>;)|iiiuG}QC}|>);Ʌ?D< %=)%>I%?i-|;ɨ-<-Q9)a 5Q9)ui}8Z}`dQ [=Ii[\B9\Q:y\ˆ: <<\\ɩ9] '= 9i_%H`_"C 54:_5ȖB 599_5^?Y_5Wg)=*<ɿ=8A)AAɼA AA)AɻIIIiIɱ鱕9 9)Q9iIF q 7! @I 4ǀ *::kA)E$IE$iE$E(IC* iC* I){=]|=KiE ;)|AE8iMGU3CU"{>);Ʌ<.?D酵< 9>)>I>i=ɨ8I Ai  :) iQ9)AZUhgQ ]M=IYiY[a\eB9\aek:y\m=; m;m9\i\qɩq驱]%| = i_e_`_"C A:_͖B 99_^?Y_g);ɿ51)99ɼ9 99)9ɻ9IAiAɱE8EQ9 M9))} }=lÒ 7:kA9@)E$IE$iE$E$IC*/?iC*ix9xAxAxA yA)yAIyAiyAyAyAyAyI zI)zIIzIizIzIzIzIzI) Ʌ4?D 5@=)A)Eȋ>IM=iM<ɨM< qQ! @I>;<=騵: U9)U8im*;ZuOQ u;=Iqiq[y\}B9\yQ:y\,; ;9\\ɩ;驱] = 9i_`_"C Q:_ӖB 99_'^?Y_g);ɿ)ɼ 8)ɻIi ɱ  - ;)- Q9i- I- )= b=t(Ԁ pQ:kA)E,IE,iE,ELICNiCR凕;CRB2CRI5Q9i9=EXgot command get SpeedControl.propOmegaAction=MpSpeedControl.propOmegaAction 31.416014 radian_per_second{]۝|e!Bie;)|ae8iiq)o<>Ʌ 5?D `=) Ph>I ==iɨ<)AMQ9 MQ9)MiUQ9Z]Q ]`=I]9iY[a\eB9\aek:y\m m ) N=Bڀ = k:kA)E$IE(iE(E(IC* iC*S:C*"(C*I8{d| i>;)|9iGQCF>Ʌ$4?D@-> `=)H>I>iɨ;;> > :)i Q9Z s=Q e=I9i8[9\=B9\AE;y\EE9\I\IɩM9I]U< U.= QiYi_]Af`a_e#C e-:_eݖB e99_m]?Y_mcg)m ;ɿqNQ1)9)]ik:kkn?j| ljw,yj)k kX) E= 4:kA)E$IE(iE(E(IC*iC*N;C*,C*Z =iD*Q?D*T%g ,IV)} ;q: qr: rWsW<9sS{)5>IQ9{M|i:)|Q9i[GoC9~>ɅX'?D=  >)Љ>I |>i =ɨ ;@ 9 =;)AiEQ9ZMbUQ:y\ ;9\\ɩ] = i_;Q`_#C :_B ::9_%\?Y_%g)%;ɿ))))-9ɼ) -81)A)1ɻQIU9i]8ɱYY a)eQ9iaIe)- < q 6! @I ;6 ?:kA:)E(IE(iE(E(IC*iC.we;C.nC.<)B;iD.P?DF%g F< >)}:q! qr! rsUz<9s)2>I{|'i7;)| 9iC%>);Ʌ(r?D酽=< Xf?)0?IX?iɨ<Q9 Q9)iQ9Z Q C=I9i[\B9\y\y; ;9i>)9\A\AɩAI]Ms; M= Ii_Uh`Y_]#C ]:_]B ]6:9_e[?Y_eg)e;ɿii)iiɼi  <)ɻIQ9iɱ鱹 )iIF)% N=P ط:kA:)E(IE* =iE(E(IC*iC*Ds;C*1C*)u7:qyqyrrs1<9sS{))>);i)E: q6! @I;) ;s s ̂As s t )tA ItA itA tA tA tA tE A uI )uM CIuI iuI uI uI uI uI vI )vQ IvQ ivU CvQ vQ vQ vQ wQ )wY IwY iwY wY wY w w x )x Ix yCix Y{ y{ I :>{] l|] Ʌ C? +D |< =) p`>I ;?i @-=ɨ < < < 9I5 Ai9 = 7:)= 8iE 9ZM iQ M =IM :iI )5 <[9 \= B9\9 9 y\E  E ;A \I \I ɩM 9驭 ] < i_ ` _ "#C ;_ B :9_ Z?Y_ g) ;ɿ ) ɼ 8 ) ɻ I i ɱ  9 )U)%)u:q= q9r= rEsE<9sA)EF>IM8{]D|]i]:)|YaieGm~Cu&~>Ʌ?IE2iE<)IEiEZ<@AAɊAɋڿd=ݯ?XzI <@) ߧ{'?M|?[IS>im &`?%Aώۿ٤uC͙@rZ<@ه͙@r -3=)-iuQ9Zux=Q }9=I}9iy[\B9\y\6 ;\\ɩ98] = i_AH` _ *#C  :_ B  8: 9_M Y?Y_M ~g)M -<ɿU 8Q )Y Y ɼY Y Y )Y ɻa Ia ia ɱa a 9) Q9i I F)% N= J :kA:)E$IE$iE(E(IC*XiC*k;C*!C*`)i=)};@Aq qr r/4sUz<9s);>IQ9{Ɇ|%i%;)|!!i-G11Ʌ=Li?EGDU )p`>I?i;ɨ<8 5c<)E8)4& j:kA)E$IE$iE$E(IC*5iC*X;C*8C*)}:eNQ1 q2! @Iq qr rosV<9s˖)9>);i};}Ļ}<}|bj<|J U=|Gt@i|@I~i~~9~9~9~9 9)9I9i99=?xxxx y)yIyiyyyyy z)zIzizzzzzI= Q{UV|]*i] <)|YYiamCy>Ʌ`?dD酝< =)=I@l>i|;ɨ<鬭@ 騭9<= :)iQ9ZzQ 4=Ii[\B9\;y\[ ;\\ɩ9] <  =  i_ ~- =`1 _1  5 9_5 'B = .9_= bY?Y_= g)= ;ɿA A )A m ;ɼi i i )q ɻq Iq iu 8ɱq y y )} 8i} I i >)5W=Xi<88 N9Nɫ:髩 >\  X90:kA)EhIEhiElElICnWriCn>$8Cnb8Cn=iDnJ?Dn*g n< q`\! @I:)U"I7:{Ɇ|%iA<)|iGC ‚>)=;Ʌ=?=tD|< Ph>)T>I>i=ɨ=9 9)i 8Z w;Q 2=I i[\B9\k:y\% %;!\I\IɩM;Q]UZ< ]= Yi_]`a_3#C 9_$B ,9_Y?Y_g);ɿ齑)鿝9ɼ 8)8ɻIi;ɱ8 )iIk! k% ^q?j%  l! j- j) )k) k- =i- 7<)p1 1 p1 5 Q9ɪ9 S ^:骝 7=I i ) :) < qE ! @IA iY )5 : m=)mIu8X9iEIQ9{Ǝ|/ie;)|8iG`C|> q o! @I ɅT?D%< %=)-=>I-0>i-ɨ5<58 =Q9)YieQ9ZecQ e6=Im9im[q\uB9\quQ:y\|;9\\ɩ9驩]  = 9i_`_4#C  9_!B /9_Y?Y_g);ɿ)<)鿝<ɼ )Q9ɻI:iɱ鱩): ;)iI =ikwkkq?j݁ ljtj)k k;e=i;)ppɪ!iQS q]: <  ) 8I = got command get SpeedControl.propOmegaAction revolution_per_minute= zSpeedControl.propOmegaAction 300.000833 revolution_per_minuteX i < ) < N 9N ɫ <髩 >x EGj:kA)E$IE(iE(E(IC*+iC*t;C*4<C*Ii{}| 6i ;)|Q9iQCz>Ʌ40?D@-= H>)>I >i <ɨ <<<9Ii=A =;)AiEQ9ZMԻQ ML=IIiI[Q\UB9\Q};y\}c };}9\\ɩ9驁]d = 9i_<`_ 8_B 9_Y?Y_}g);ɿ8)9ɼ )ɻqIuQ9iqɱ}8y }9)iI<):ikkknp?jy ljj)k kv=i9<)p9pɪ- iI)uV=S \: < 8) I X! i% =! ) N) 9N1 ɫ5 := Q9 = >)U o<  ݃:kA5@)E$IE(iE(E(IC*C iC*:C* C*5Iu8{}F|7i^;)|iG3Ć>Ʌr?D); < =) Љ>I?)i;ɨ=騭Q9 9)iQ9Z$X=Q 5=Ii[\B9\k:y\^: ;\\ɩ8] % = !i_%F`I_U5#C U9_UB U/9_U Z?Y_]Rg)];ɿ]a)aaɼa aa)iiqɻiI;iɱ鱕9 9)Q9iI q ]+! @I >;8' xz:kA ;)E(IE(iE(E(IC*iC.W;C.0C.,=iD>M?D>C(g >T<); )颍@ɐ<鐍=):q: qr: rWsW<9sS{)4>IQ9{go|5i%;)|)-:i55G]`C]z>Ʌep!?eDa m =)m>Imiuɨu<}8 }Q9)iQ9ZQ e=I9i8[\B9\;y\̌  <9\\ɩ9]֌; .= 9)E^T!- o:kA:)E(IE(iE(E(IC*iC*s;C*lA&C*&Iy{Z|i:)|9iG~C&~>Ʌ@-?D酭  >)`d>I@-=iɨ;i}H=}H=} } b| B<| FRT=| ۄu@i| j@I~ i~ ~ ~ ~~ )Ii>=@ 9=< A)AiMQ9ZMY) <$3 :kA :)E0IE0iE0E0IC2liC2;C2Q2C2a q}! @I:xx Axx y)yIyiyyCyyy z)zIzizzzzzI]=)<{u{|uiu(<)|qu8i}G`C1t>);Ʌ(>D< X>)?IS?ip>ɨ^<9)] BI]5i]B]c]>ɈY]7; ] Z)]9I]h8i]h9]h9]@ɉ]'] #@ ]V)]vap@I]ViYYYɊYɋ'~?`]4GB>șr 8s@2)I/鋝9?A^|ԿrNIQiG:? 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@I%:)];i))-7:q! qr! rs  <9s S{) >>x x x x  y )y Iyiyyyy1y1 z9)z9Iz9iz9z9z9z9z9IY=)u<{u{|uiu<)|y}Q9cɅ X> D = >) >I |=i ɨ =   9  ) i% Q9Z- 2 Q9ɴ I I l k j j )k k i ;)p p ɪ 8) I S k: =  ) I i 9 9 NA ɫE :I M >0 G:kA q ]! @I$&<)>M=)f:)ElIEl r>iElEIC)iC1CܒC+=iD M?D w&g <)IMQ9{es|e)ie;)|aa=rgot command run ./Missions/Engineering/Homing_pursuit.xmltLoading Mission: ./Missions/Engineering/Homing_pursuit.xml0Ʌ]>]De|< e=)m>Im=iqɨu<騽 < 8)iQ9ZQ {=Ii[\B9\  4 Oa:kA:)E$IE$iE(E(IC*RiC*ĘC*C*.=iD*M?D*A&g .I i   =hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdegE)AMlDefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg}iy^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s ufDefineArg homing_pursuit.MassDefault = 0.000000 n/ainDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/alDefineArg homing_pursuit.NumberOfLaps = 0.000000 count\DefineArg homing_pursuit.MinRange = 0.300000 m%I!%pDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/ahDefineArg homing_pursuit.ApproachDepth = 10.000000 m )j=bDefineArg homing_pursuit.HomingDepth = 7.000000 mɔpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min- )5rDefineArg homing_pursuit.TimeoutDuration = 180.000000 min=I9iAmhDefineArg homing_pursuit.WaitDuration = 0.500000 minuq}fDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a ]dDefineArg homing_pursuit.kdAltitude = 0.000000 n/amIiu^DefineArg homing_pursuit.MaxDepth = 45.000000 m"6Construct AltitudeEnvelope.q T qr T rs <9s)9>I{]|KiD;)| 9 >) Y>9iG~C%iw> #0Construct DepthEnvelope.Ʌ>D酝 =  5>) 5>Ii==ɨ<騭8 )i=)iQ9Z =Q Z=I9i8[ \ B9\  k:y\ ^9\\ɩ9]N< %1= %9i_%]`)_)_)9_)Y_))5:#e6Construct OffshoreEnvelope.Iy lj- j)k ki5<)pp9ɪ q% ! @I%; @Construct.! ! @m &Construct Buoyancy.a u  A Construct.A Construct.) u= BU Construct.!!1 !!% !!) S l:骥 = ) I i N ɫ > } m Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 -2.0 =} bRunning ./Missions/Engineering/Homing_pursuit.xml P  z:kA:)E$IE(iE(E(IC*͊iC*88C*C*-=iD*M?D.T&g .<)J`=)d )5%=ii) Q:qK qrK rksؠ<9s)-> q-! @I-:ssЂAssC t)tItittCttt u)uIu iu u u u u  v )U<)vYIvYivYvYvYvYvY wY)wYIwaiwawawe`Cwawa xa)xaIxelCixaY{iy{iI- ={M F|M 7iM r;)|Q U 8] :ie G &~>Ʌ  D |; =) =I ?i <ɨ <% =% <% : - 8)- 8i5 Q9Z5 6Aggregate::uninitialize Default1 2 FAggregate::uninitialize Default:GPSq 2 Uninitialize. q 4 NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9 ZAggregate::uninitialize Default:CallIridium:B 9 Uninitialize.1  : DUninitialize GoToSurfaceComponent.= q Sel:e= i)m8Iu8i; Nɫ:髹 ?& :kA:)E&SAIE&.IEQ9{] z|eie7;)|am9^Ʌ|?D; ) X>I ?i=ɨ;9Powering up U;)ei)E M=4, ʵ:kA)E$IE(iE(E(IC*IiC*(;C*I8{.q|Li;)|ɮ@i); q ! @I)Q  ) :iI ) 7:): q&! @I):]?imGu#Cu|>)Ʌ D Q]< a)e@->Ie8/?im@-=ɨm=i m@u9); k<)8iUX;)p)-;p11ɪ1)9I9S7m:< 8)Iii]:=ee NiɫuQ:q u]?: G:kA)<;)E)IE)iE)E)IC5iC5C5~=C5w=iD5ZA?D50g 5=I)Axyxyxyxy yy)yIyiyyyyy z)zIzizzzzzI.={|N,i;)|Q9 1) < `=i C X{>Ʌ ? 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I8{|;iQ:)|ɮ@:ioCÈ>)M;=Urgot command run ./Missions/Engineering/Homing_pursuit.xml]tLoading Mission: ./Missions/Engineering/Homing_pursuit.xmlɅm>uD酵 <)m :) A<  >M iI U lDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg] Y e pDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdegu q } hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg )  lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg i  ^DefineArg homing_pursuit.Altitude = 10.000000 m   ZDefineArg homing_pursuit.Speed = 1.000000 m/s qE ! @IE ; U >)] @>}  y  fDefineArg homing_pursuit.MassDefault = 0.000000 n/a i  nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a   lDefineArg homing_pursuit.NumberOfLaps = 0.000000 count   \DefineArg homing_pursuit.MinRange = 0.300000 m- I) -pDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a51=hDefineArg homing_pursuit.ApproachDepth = 10.000000 mE IMbDefineArg homing_pursuit.HomingDepth = 7.000000 m]ɔYepDefineArg homing_pursuit.ApproachTimeout = 30.000000 minIm?im=ɨm>uQ9 q)}i}Q9ZQ  =Ii[\9\:y\': ;\\ɩ9)Y= rDefineArg homing_pursuit.TimeoutDuration = 180.000000 minI]C+ <  Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 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E! M@e&Construct Buoyancy.a  AConstruct.A5Construct. BmConstruct.!!- !!1 !!% !!) )5g= }n Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 =}bRunning ./Missions/Engineering/Homing_pursuit.xml) =>q]sqaresreoseV<9se)e1>)EY= ) =s s s s t )t It it t Ct t t A u )u Iu iu u u u u v )v Iv iv v v v v w )w Iw iw w w w! w! x! )x! Ix! ix! 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 =bRunning ./Missions/Engineering/Homing_pursuit.xmliDʉ?DEg Et=Iii9)O= q% =J! @I% ;)M=q/{qr/{rTs9s)0>x)5*;xxx y)yIy߂Aiyyyyy z)zIzizzzzzI>={E |E 0iE <)|A M 8ɮI I [ Ʌ > D <  =) @=I |=i =ɨ *< 8 q )q ) i Aggregate::uninitialize Default1 2 FAggregate::uninitialize Default:GPSq 2 Uninitialize. q 4 NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridiumE 9E ZAggregate::uninitialize Default:CallIridium:BE 9E Uninitialize.1E  :E DUninitialize GoToSurfaceComponent.=M ` !=:kA:)E:SAIE:6҉?D>Tg >Y< q.L! @Ii)em=)=P=q]qYr]r]s]1<9sa)eE>IeQ9{Ɇ|%i;)|Q9Q9i=oCE>ɅEP>EDI M>)M>IUP>i]=ɨe)e Y= q N! @I ;&g =:kA)E$IE$iE$E(IC*KaiC*+(:C*1=C*<=iD* Ӊ?D*Òg *<)B=i)7:q]/{qare/{reTsa9sa)e)>Ii{`|iD;)|9i~CO>Ʌ]C?](D]< eX>)e>ImE?im=ɨm)} <@m =:kA)E$IE$iE(E(IC*tiC*-;C*64=C*=iD*Ӊ?D*fg .<)N;ZM@ɬXi):q}ǨqyrǨrsUz<9s)->I8{);Ʌ ?/D D>) 5>I%01>i%>ɨ%@=-8 -))i=:ZMu ,e=:kAi)EPIEPiETETICVǷiCVP;CfёL=CfP=iDfMщ?Dj2g j<)< qmS! @I:):qM bqIrM brM"sUV<9sUS{)U8>IUQ9{mt|u{iuD;)|y}9iG3C"{>Ʌ?9D酝|< =)=I?iɨ<@ @: 8)i8ZLQ 5=Ii [ \ B9\  ;y\\ ;9\\ɩ]E5= % = !)5:i_Mt`I_I_I9_QY_Q)U:Yɿ]Y)Y]9ɼa a)%Q9ɻ!I! !I!i)I-<{ -!=:kAi)E(IE(iE(E(IC* iC*n;C*F=C*=iD.Ӊ?D.g .< qU! @I);)9q}O qrO r'ys<9sI),>I8{|iD;)|:iG~C)>ɅI?BD=< @=)@>I|=iɨ"< Q9 ) iQ9I8i[!\!9\!%k:y\-J; -<)\)\)ɩ158]5s ='= ];i_a`a_a_a9_iY_i)m:qɿqq)qqɼ )ɻI9 ơIƥi8I;ikkkp?j ljzj)k kQ:i;)p9pɪ8 )!SUy:U9=I]Ai]A);=M HOpening uart, block timeout 10ths=20M *Querying output modesU q 8W! @I  Ǻ>:kA.@)E$IE$iE(E(IC*qiC*I5Q9{]K|]i];)|ae9m8iqu#C}>Ʌ40?LD< `=)=Il"?i=<ɨ<8 )iQ9ZJ\-?\-?ɩ)5]UW U= ]9i_]]R`a_e{+C e1;_e2B e:9_m؉?Y_mg)m:)dG &>:kA:)E(IE(iE(E(IC*^iC*M qu[! @Iu;):q qr rosW<9s)8>xxxx y)yIyiyyyyy\A z)zIzizzAzzzIU<={Y|Yie:)|quQ9yi[G~C&~>ɅD?XD5<)L< p!>) `>I =>i <ɨ W= =  9 ! )! iM ;IM iU [Y \Y 9\Y ] Q:y\]  e ;e 9\a \a ɩa 驉 ] f< < i_ eS` _ +C ^;_ UB :9_ ։?Y_ g) ɿ ) 9ɼ ) Q9ɻ I 8  I i I 0;ik5 k1 k5 s?j= : l9 j= @⽻j9 )k9 k= qP.;i= 0;)pa e ;pi i ɪi i SA E < M 8)Q IU X9 i= 2 @>:kA)^S=)E1IEQiEQEQIC]!diC]z;) >)M:qm qrm rcs<9s))];sisisismC tq)tqItqitqtqtqtqtq uq)uyIuyiuyuyuyuyuy vy)vyIvyivyvvvv wC)wIwiwwwww x)xIxixY{y{IE ={U |U 0iU :)|Y a a im Gu QCu F>Ʌ Tg? fD H>) h>I 0>i ;ɨ < 9  8)! i] ;Z} EQ X i < 8 N ɫ : >0 [>:kA:)Q=)EHIEHiEHEH qR_! @IV;ICJiCZl;C^/IEQ9{Ev|E6iE7:)|IM8IiUG]~Cev>Ʌe@?emDm< m>)m\>Iu@=i>ɨ<8 )8iQ9Zܻi q a! @I :) %<Ü ۊu>:kA ;)E(IE(iE(E(IC*2iC.. 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BConstruct.!!- !!1 !!% !!) B Construct Wait.  UMq Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.3 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Depth for initial approach. 7.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 30 =UbRunning ./Missions/Engineering/Homing_pursuit.xml)\=)eG< qm;! @Im;qqrrsV<9s)N>IQ9{}?||i>;)|ueɅH>XD< =)>I=i=<ɨ<8 ) i=Q9)Eu=ZMAggregate::uninitialize Default1E 2E FAggregate::uninitialize Default:GPSqE 2E Uninitialize. q 4 NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9 ZAggregate::uninitialize Default:CallIridium:B 9 Uninitialize.1  : DUninitialize GoToSurfaceComponent.=  BϾ:kA:iI8{|1iD;)|9ɮ@@:i oC ̀>)5=)>Ʌ?_D酽<  >) 5>Ip!>i=ɨ<@ @9Powering up 9) i Q9Z cQ >=I i [ \ B9\  :y\ i: ; <\ \ ɩ ] m< = 9i_ ` _ _ 9_ Y_ ) :i9 E IE iE 8IE : lI jQ jQ )kQ kQ iU :)py y py y ɪ 骅 Q9 ) I i ) g= N ɫ k:  >l qٻ:kA :i )E4IE4iE8E8IC:f^iC:5GC:5QAC:=iD:D?D: g :2IQ9{|~:i:)|Q9k;);i=GE3CḾ>Ʌ>cD酝< p!>)Ph>I@>i<ɨ<騵Q9 :)i8Z(Q s=I9i[\B9\;y\\ <9\\ɩ98] m D= i_`1_1_99_9Y_9)=;iA AIE8iMII lqjqjy)ky kyi};)ppɪ8骉 )Ii NɫQ:髩 >)= .= q У! @I : W:kA):k;)E,IE,iE,E,IC2iC2]C2/9C2#=iD2n?D2g 2 I{#J|i;)|8iG~C)=;Miw>ɅMH>MeDU UHj?)]?I]?i]|=ɨ]Q) = qE a! @IE ;)5 :X  :kA:)E IE$iE$E$IC&1iC&C&|EC&H=iD&F?D*g *xxxx y)yIyiyyCyyy z)zIzizzzzz)U u9i}G}C>ɅT>hD D>)>IT?i=<ɨ<==9 )i;ZQ 6=I q-! @I1i1[a\e B9\ae:y\m$ m;m:\q\qɩqy]}[< = :i_[`__9_Y_):i IiI: ljj)k ki:) <)p 9p 8ɪ ) I i 8 N ɫ :% Q9 % >)] ;  %:kA:)E$IE$iE$E$IC&iC*HC*KC*7=iD*+?D*g * I8 qm! @I:)y;{uO|%!i%<)|!-9-8i5G=~C=>ɅD>kD=< )=I=) <) 98  ?:kA:)E$IE$iE$E$IC&K/iC&wC&oLC&c-=iD*9?D*g *IQ9{| AiK;)|Q9iGCy>Ʌ?rD = V?)?Iv?i>ɨ;)]) <)5 :x eX:kA?)E$IE$iE$E$IC&DiC*xC*TEGC*"=iD*?D*8g * I{|'i;)|88iGw>)E;Ʌu t>uuDu< }>)}>I >i=ɨ0=@ 9 )%8i%Q9Z-`_,C :_ϡB 99_?Y_آg)iơ ơI;iI; ljj)k ki)p9pɪ )Ii8 N ɫ ) ->) < q= 5! @I= :)M : %ur:kA:)E$IE$iE$E$IC&BiC*ZSC*CC*^/=iD*e?D*g *qsqrsros<9s˖).>I9{;|i:)|Q:iGF{>)5;Ʌ=@->=wD} } @)H@IY@i@ɨ<騕9 )iQ9ZZ=Q R=Ii[\B9\Q:y\E; <;\\ɩ]A= != i_ >=`_,C  :_5ԡB 599_=s?Y_=g)=;iA AIE8iAIM: lqjqjy)ky kyi};)pp8ɪ骍8 )Ii Nɫ; > q5 kƮ! @I5 ;)] .=" ɋ:kA:):)E,IE,iE,E,IC.@iC2S:C2EC2HG=iD2R?D2ƥg 2-qe bqare bre"seUz<9smS{)m'>)5K;ssss t)tItittttt u)uIuiuuuuu v)vIvivCvvvv w)wIwiwwwww x)xIxyCixY{y{ q= W! @IAIu={=|d!iy;)|8i3Ć>Ʌ% ?% D) < =< E ?)M ?IM ?iM ɨU e=U :_ ܡB 99_ ?Y_ {g) ;i 8I i I k: l j j )k k i :)p! % 9p! - Q9ɪ) ) 5 )5 I9 i= y N ɫ :髕 8 >) <5) :kA)E$IE$iE$E$IC&%iC&z#C&6~IC&-=iD&?D*Lg *qma]qirma]rmKsu <9sq)u+>I}9 q! @I:);{n_|b it<)|i C nv>Ʌ?D< l"@)a@I%6O@i?ɨ<: )i8Z)} <) : / -!:kA :)EI)5;{M|M;iM<)|QQQi]Ge3C"{>Ʌ @> D酥< Љ>)?I0>i@l=ɨ4=騵8 )iQ9Z%FQ F=Ii8[\B9\y\: ;9\\ɩ9%]%'= %= )i_-2`1_5,C 5:_5B 599_5?Y_=g)=:iY eIaie8Ie: lqjqjq)kq kqiq)p;p8ɪ骩 )Ii88 Nɫ >) <)- :x5 eؼ:kA:)E(IE(iE(E(IC*iC.bC.+DC.#=iD.e?D.g .NQ1)=;iy}};}};}}ף}}-|}bj<|}R.W=|/u@i|?@I~i~~~~~ )Ii颍>xx Axx y)yIyiyyyyy z)zIzizzzzzI ={-2|->i-;)|))5i=G=Cex=Ex>Ʌu@>uDu< }>)}=?I}?iɨ <鬡 @騭: )iQ9ZGQ @=I9i[\9\y\ ;\\ɩ98] . = :i_ K` _ ,C  8_ B  9_ ?Y_ g) ) T= q= ! @I9 6< d;:kA)E(IE(iE(E(IC.iC.~ӻC.P3CC.S3=iD>?D>g BhIEQ9{]d|] i]0;)|ae9m8iuGuBC}>ɅU=UD酥L= 0>)N?IT(?i=ɨ,=; 8)8iQ9ZS=Q S=I9i8[\ B9\y\끺 <\\ɩ%]%B< %!= %9i_-d`1_1 58_5B 5b9_=?Y_=ݣg)EQ;iA M8IM8iqIu; ljj)k k)E ) ;pB -C :kA :)E(IE(iE(E(IC*PiC*WsMC*>CC*6=iD*?D.g .I8{6| 5ik:)|i~C>Ʌ?D|< ?)2@I@ix>ɨ;)%<8 E)MiMQ9ZM@Q Up=IU9iU[Y\]B9\YYy\U: <\\ɩ驩]궼 5= i_J`_ 8_B N9_?Y_ѣg) ;i IiI: ljYjY)kY kYie<)paapimQ9ɪiq q)qI}8iy8 Nɫk:髑 }> q! @I:) <) :H 2w%:kA:)E$IE$iE$E$IC&PiC&EC&zAC&=iD*w?D*vg *I {V|i;)|8ioCt>Ʌ=D = *?) ?I ?i \>ɨ< q%I! @I!)m<<騵: )8i *=Q C=Ii[\ B9\!!y\%7; %;%9\)\)ɩ-:58]5; 5= 1i_=V`9_E,C E8_EB E9_E?Y_Mg)Iiƍ ƕ8IƑiIk: ljj)k ki:)p9pɪ骵Q9 8)8Ii8 Nɫ >) <)5 98 O ?:kA:)E IE$iE$E$IC&AiC& oC&1.GC&@=iD&m?D&yg *IeQ9{m|m#im7:)|iquPowering downɮu} })})yI}i}ɂ邅 )IiɃ郍 e;i[GC߁> Ʌ\>D; ?) @I?i`%>ɨ7<Q9 8)i8Z Q `=I9i 8[ \B9\)e <)5 9xU eX:kA)E$IE$iE$E$IC&iC&;HC&GC*r&=iD*q?D*ig *<@ɬ@ qFj! @IiI)5;) ;q+qr+rôs <9s)0>I{]|Ki7;)|98iG ~Cz>)E;ɅU=UD]< ]v?)]J?Ie?ieɨet -;1\1\1ɩ1=8]=>t == 9i_E]`i_m,C m8_uߡB ul9_u?Y_ug)};iƅ ƅIƍ8iI: ljj)k ki:)ppɪ8) ))5I5i=9=8 NAɫEk:MQ9 M>颅@ɐ<鐍<) <)5 : qE b! @IA \ ;pr:kA ;)E(IE(iE(E(IC*iC*E# C*NC* 8=iD.n?D.dg ,iQ)%;):q qr rs1<9s)->I{s|)i;)|:i{H >)-;5C5>Ʌ=>=Da e=)e>Im@?imF?ɨm) < q5 l! @I5 ;E NQ1i } Mb>} Mb>} =} A| FD<| UW=| ru@i| y@I~ i~ ~ ~ ~ ~  ) I i   >b  :kA ;)E$IE$iE(E(IC*iC*S6C*TGC*g!=iD*q?D*Ig *<~=)=iq)Q:):)q q r r }s W<9s)?>I9 >{=d|= i=y;)|AE8AiMGUC]m>Ʌ\>D酽< d$?)?I y?iɨ<9 )8iQ9Z q%h! @I!)m 5=) :h :kA? 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One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 i|==bRunning ./Missions/Engineering/Homing_pursuit.xml)]:)W= q|"! @I ;)I{|Wi7<)|8-8iYe#CmՁ>Ʌ>C< )=Ii|<ɨ<8 )iQ9ZQ c=Ii![)\-#B9\))/<Aggregate::uninitialize Default1 2 FAggregate::uninitialize Default:GPSq 2 Uninitialize. q 4 NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9% ZAggregate::uninitialize Default:CallIridium:B% 9% Uninitialize.1%  :% DUninitialize GoToSurfaceComponent.=%   HOpening uart, block timeout 10ths=20 $resume:Powering up% DCycling power to configure device.! ! ɐ! ! @ 6kA)E$IE$iE$E$IC*WiC*ûC*HC*F"=iD*A?D*Rb *<)j]=i q"! @I:)]:)j=qqrr}sW<9s)5>IQ9{ |i]i;)|Q9]cɅ}>}ŧCy =)=>I >i>ɨ;!?=騕9Powering up ;)8iQ9ZǻQ f=I9i[\$B9\k:y\Ǖ <\\ɩ]G; 9= 9i_ `__9_Y_):)%|=I)-ɱ5q }9)yi}8I}0< ljj)k ki:)p9pɪ骥8 )Ii8 Nɫk: > ) N= q% '#! 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@I)=iquqqrurusuW<9s}˖)}0>I}Q9{}|iD;)|98i[G颩C>ɅC=< >)=I?) ;ɴII;=rgot command run ./Missions/Engineering/Homing_pursuit.xmltLoading Mission: ./Missions/Engineering/Homing_pursuit.xml lkjj)k ki;)pp  ɪ! 1)9I9i9EA NIɫMk:U8 U>)u U=8 F aa6kA)E$IE(iE(E(IC*>iC*]f溉C**C*8!=iD*?D.7a .<)b; => q!! @IeiamlDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegpDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg鑩hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg)lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg)9i)5^DefineArg homing_pursuit.Altitude = 10.000000 m=9EZDefineArg homing_pursuit.Speed = 1.000000 m/sU Q]fDefineArg homing_pursuit.MassDefault = 0.000000 n/aeiamnDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/auq}lDefineArg homing_pursuit.NumberOfLaps = 0.000000 count铥?\DefineArg homing_pursuit.MinRange = 0.250000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/ahDefineArg homing_pursuit.ApproachDepth = 10.000000 mɔ)M[=UpDefineArg homing_pursuit.ApproachTimeout = 30.000000 minq] qYre rese <9sa)e(>Ii{mH|uhQiu7:)|quQ9ɮ}@}@} rDefineArg homing_pursuit.TimeoutDuration = 180.000000 minIhDefineArg homing_pursuit.WaitDuration = 0.500000 minfDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a dDefineArg homing_pursuit.kdAltitude = 0.000000 n/aiYɅm|>m Cu< u=}Iy^DefineArg homing_pursuit.MaxDepth = 45.000000 m>)=I|=i@l=ɨ$=! !)!i-Q9Z-XQ -L=I59"56Construct AltitudeEnvelope. #]0Construct DepthEnvelope.i[\:B9\k:y\n: ;9\\ɩ9]U = 9i_5H`1_1_19_9Y_9)=:I=8 lMw:jIjI)kI kQiU:#u6Construct OffshoreEnvelope.)pp8ɪ骹 )Ii)= 8 N ɫ   >- %  *E Construct Wait. +] Construct. E  M +] &Construct Buoyancy. e  ,m Construct., Construct. -- Construct.)M N=1 % ) - Construct Wait. q N! @I &L 82a6kA:)E(IE(iE(E(IC*HiC*^C.` ,C.#=iD.?D.7a . qx Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. .5 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 =bRunning ./Missions/Engineering/Homing_pursuit.xml)0=)<)Q:qqrrs9sS{)5>I8{Ǝ|/iQ:)|i]|);>ɅH>/ C ; >)>I5t ?i==ɨ=<=9 E)AiMQ9ZMG=Q MJ=IIiu[y\}3B9\y}Q:y\ <9\\ɩ9驉]=  = ;i_Ǝ`__9_Y_)1>Aggregate::uninitialize Default12FAggregate::uninitialize Default:GPSq2Uninitialize.q4NAggregate::uninitialize Default:Iridium 5Uninitialize.19Uninitialize.1 :DUninitialize GoToSurfaceComponent.= q L! @I 7;)] Q=\S La6kA:)E$IE(iE(E(IC*_HiC*C*92C*2=iD*?D*7a .< q)-O=)-F<)5N=qqrrsW<9s)6>IQ9i{=۝|=!Bi=:<)|AE8<HOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.!!ɐ!!ɅuP?u Cu=< } ?)}U?I ?iH>ɨ<騍8Powering up  <)8iQ9Z7Q C=Ii[\7B9\k: qG}! @I:y\-n -;)\1\1ɩ599]= == =9i_E۝`A_A_I)mg=9_qY_q)};I}8}ɱ鱅9 )iI; ljj)k ki)p9p9ɪ )Ii  8 8 N ɫ   >) 4=Y -fa6kA)E$IE$iE$E(IC*OiC*3\λC*7C*'=iD*?D*7a *<)b; )Q:)= q;! @I;i9q]+qYr]+r]˴sY9s]ɻ)eJ>Ia{} |}i]i}7;)|9 >)N>:iGȓC>Ʌp!> C酥< 0?)?I?i?ɨ;)(;ZQ O=Ii8[\=B9\y\ <\\ɩ9]B = i_ ` _ _ 9_ Y_ ):I!ɱ!%Q9 )))i)I50; lajaja)ka kaie:)pim9pQ9ɪ骝8 )Ii N ɫ Q: 8  )M <h3_ a6kA)E$IE$iE$E$IC&iC&XC&_=C*.=iD*?D*7a * iY)Q;xxxx y)yIyiyyyyyXA z)zIzizzzzzIU}={uR|u3iu;)|y}Q9Q9iG#C~>ɅP> C酝@-= P>)Љ>Idc?iɨ騩 8)iQ9Zc(=Q L=Ii[\4B9\y\<; ;9\\ɩ]< = 9i_R` _ _ 9_ Y_1)5;I99ɱ99 A)AiAIE; lijqjq)kq kqiu;)py}9py}8ɪ骁 8)8Ii Nɫ:髽 >)- ;= f B`a6kA)E(IE(iE(E(IC*03iC*ƻC*f):):q?Dqr?Drs9sɻ)1>IQ9{|1i;)|88iQCՆ>Ʌ%=>% C%< %\>)-p>I-@>i- 5>ɨ5<1 1)YieQ9Zee;Q ee=Iaii[q\q9\qu:iyy\  <9\\ɩ9驡] .= i_`_)-w<_9_QY_Y)]) -< q ! @I :T'l a6kA,@)E$IE$iE$E$IC&HiC**C*BC*;4=iD*?D*7a * <)f; >);):q}qyrrs <9s)->I8{| 6i>;)|Q9ɮ鮵@:i`CK~>ɅD> C H>)>I@l>i)ɨ(=8 )i Q9Z Q B=I9i[\5B9\Q:y\% %;%9\!\)ɩ))]-p< 5= 59i_]`Y_Y_Y9_aY_a)e:Iim8ɱiq q)u8iu8I}; ljj)k ki)ppɪ:Q9 )Ii8 Nɫk: > q j2! @I 7;)5 A=hr a6kA)E$IE$iE$E$IC&iC&;xC&~?C&.=iD*?D*7a *<@ɬBO@)b; ):):qE+qArE+rE˴sA9sE˖)M&>IMQ9{e|e"Nie>;)|im9uQ9iyؓCނ>ɅH> C配= =) t>I@>i<ɨ;; )iQ9ZټQ d=Ii8[\:B9\;y\  <9\ \ ɩ  ]O += i_`9_A_A9_AY_A)E;IIIɱQQ Q)}Q9i}I; ljj)k ki)p9pɪ骭8 )8I8i5>]HOpening uart, block timeout 10ths=20]*Querying output modes] qiwذ! @I ;4cmdResponse: AUTO_VEL_ON @%:)]Z= {=)- S<#y Ra6kA:)N;)E4IETiETETICZjiCZ'CZ?CZ{,=iDZf?DZ7a Z< %>)r;); q}! @I>;qqrrsW<9s)/>I{-:ʽ|5xi5;)|1589iA]CLj>);Ʌ%D>% C%< -$?)-p?I-f?i54?ɨ5==8 9)9iE>ieQ9ZmQ m4=Iiim[q\uBB9\quk:y\}4_ };y\\ɩ驁]_;  = i_ʽ`_A 9_hA  99_"?Y_4a);Iɱ )8i8I; l j j )k  k i ;)p9pɪYeQ9 a)mIiim8u8q Nɫ;髥 >) <04 a6kA:)E$IE$iE$E$IC&uiC*è@C*7C*8+=iD*I?D*7a *<)f; Y):): q""! @I;qE+qArE+rM˴sM <9sI)M&>IU9{eD|e:[ie:)|aeQ9miquȓC}{>Ʌ9>!C< ؇?) ?I?i8/?ɨ<=; A)AiM9ZMz=Q Ub=IQiQ[y\}) <p  ^b6kA)E$IE$iE$E$IC&iC&4C&3C&]5=iD*?D*8a *ɅL>!C< [?)8?I*?i=ɨP<; )i=;Z=) 2< q l! @I :& 82b6kA)E$IE$iE$E$IC&"iC&cC&"5C&R==iD*?D*'8a ()b; )):qEǨqArEǨrEsEUz<9sM)I);ssЂAss t)tItittCttt u)uIuiuuuuiu v)vIvivvvvv w)wIwiwwwww x)xIxixY{y{xq xq xq xu C yq )yy Iyy iyy yy yy yy yy zy )zy Izy iz z z z z q ! @I ;{A 9{A IE &>{M |M AiM 7:)|I I Q iY ] ؓCe ~>Ʌ ? !C B?) 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C.`7C."=iD.Ð?D.ma .<); > qɝ%! @I):)颹i>q=Hq9r=Hr=gs= <9s=˖)E;>IEQ9{]ѵ|]_i]7;)|aaii);) 9 q | U&! @I ) : >=Ergot command run ./Missions/Engineering/Homing_pursuit.xmlEtLoading Mission: ./Missions/Engineering/Homing_pursuit.xml)<);i)):]iYelDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegmiupDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg}yhDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg)lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdegi ^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s- )5fDefineArg homing_pursuit.MassDefault = 0.000000 n/auiq}nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/alDefineArg homing_pursuit.NumberOfLaps = 0.000000 count铩\DefineArg homing_pursuit.MinRange = 0.250000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/ahDefineArg homing_pursuit.ApproachDepth = 10.000000 mɔpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min?iC ?>e amrDefineArg homing_pursuit.TimeoutDuration = 180.000000 minuI}N@}hDefineArg homing_pursuit.WaitDuration = 1.000000 minfDefineArg homing_pursuit.kpAltitude = -0.080000 n/a qU&! @IɅȋ>4>CɕdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a dDefineArg homing_pursuit.kdAltitude = 0.000000 n/aI^DefineArg homing_pursuit.MaxDepth = 45.000000 m"6Construct AltitudeEnvelope. #0Construct DepthEnvelope.)-=-< E >)M=IIiM|=ɨM=Q ])]ieQ9Ze?Q e]e,]< es< ai_mѵ`i_i_q9_qY_q)u:I}8 *Construct Wait. +Construct. l%w:j!j!)k! k!i%:)p)-9p11ɪ59 =8)EIEiEII NQɫUk:)N=髕 g?$FԜ )Qs6kApM@: & *+2&Construct Buoyancy. 6 ,:Construct.)E|,Construct. -5Construct.IEaiEaEaICeGiCeCev}Ceq>iDeg?Dmra m3=1 % ) -Construct Wait.ML@ɬI)}:i)W= }mx Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. 1 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 =bRunning ./Missions/Engineering/Homing_pursuit.xml)M< quIwQ'! @Iu;qqrrs9s)?>)>;x x x x  y )yIyiyyyyy z)zIzizzzzzIB={|gEiX;)|Q9ɮ鮹- pɅ > f>C酉 @=) =I l"?i ==ɨ c<騥 9 ;) i Q9Z mAggregate::uninitialize Default1- 25 FAggregate::uninitialize Default:GPSq5 25 Uninitialize.5 q5 45 NAggregate::uninitialize Default:Iridium5  55 Uninitialize.15 5 95 Uninitialize.15  := DUninitialize GoToSurfaceComponent.== ڜ  qls6kA;)EHIEHiEHEHICNsiCNvCN CR =iDRĐ?DRma Rh<):颁HOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.ɐ鐑i)N= qq'! @I)R=qqrrsW<9sS{)6>IQ9{-慽|-$i-:)|1585Q9i=GEؓCMH>ɅH>>C酑 `%>)>I>i@=ɨL<騥9Powering up ;)i8Za(=Q =I9i8[\B9\k:y\ ✺ < \ \ɩ9] B= 9i_慽`!__9_Y_))X= ) N=x k+s6kA:)E$IE$iE$E$IC&iC*C*C*u=iD*`Đ?D*qma * < qvDM(! @Iv:)<)i):qeqarereCPsm<9sm)},>I{~| Yi7:)|8iGCe>Ʌ?>C|< N?):@In@i>ɨ< ;)iQ9ZkaQ X=Ii[!\%B9\!-Q:y\ET E)M ; q (! @I 0;t Ɵs6kA:)E$IE$iE$E$IC&iC& C**$C*"=iD*VĐ?D*tma (IBIq{}|}PDi}7:)|Q9i3C~>Ʌ>>C酭 T>) t>IL>i=ɨ;9 8)8i8Zx)== qSvH)! @I;)- :  ^s6kA:)E(IE(iE(E(IC*iC. 滉C.B*C.)=iD.Đ?D.ima .<)%;):i>):qqrrCPsUz<9s˖).>I9{'|R\i<)|8iG%C%߁>Ʌm ?m?C q)! @I)M;M< U?)>I|>i=ɨ}=9 )iQ9ZZQ /=I9i[ \B9\:y\; ;9\\ɩ9!]%F= %= %9i_-'`Q_Q_Q9_YY_Y)];Iaaɱaa i)mQ9im8Im; ljj)k ki7;)ppQ9ɪ8Q9 )8I i 8  N ɫ! % 8 % >) < ! 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C]=iDA?D a =}iylDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg)"<pDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg%!-hDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg5)9=lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdegMiIU^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s fDefineArg homing_pursuit.MassDefault = 0.000000 n/a i 5nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/aUQ]lDefineArg homing_pursuit.NumberOfLaps = 0.000000 counteam\DefineArg homing_pursuit.MinRange = 0.250000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/ahDefineArg homing_pursuit.ApproachDepth = 10.000000 mɔ pDefineArg homing_pursuit.ApproachTimeout = 30.000000 min rDefineArg homing_pursuit.TimeoutDuration = 180.000000 min%I!-hDefineArg homing_pursuit.WaitDuration = 1.000000 min59=fDefineArg homing_pursuit.kpAltitude = -0.080000 n/a)qe>ɕdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a dDefineArg homing_pursuit.kdAltitude = 0.000000 n/a%I!-^DefineArg homing_pursuit.MaxDepth = 45.000000 m Y"e6Construct AltitudeEnvelope. #0Construct DepthEnvelope.)=qvqrvrKs <9s)G>xxxx y)y#6Construct OffshoreEnvelope.- )]Ʌ} >} }C} < =) => + Construct.  I t ?i |<ɨ ^<騱 ) i 8Z <=Q 9=I 9+ &Construct Buoyancy. i <[ \ ɴB9\  :y\ _:  ; 9\! ,E Construct.,] Construct.\! ɩe 1 % % % ) - B H 6kA)"e=i0-2Construct Wait.)EXIEXiEXEXICZiC^cyC^ C^'=iD^B?D~a ~< 5mx Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. 1 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 =5bRunning ./Missions/Engineering/Homing_pursuit.xmluM@ɬq)F=)} ;)Q:}>q]? qYr]? r]se1<9sa)e4>ImQ9 y{}|}ji:)|Q9jɅ>}C); qWc{! @I;酥 =) >I >i@-=ɨ=9  8) i Q9Z% 5Q % W=I- 7:i- [1 \5 ѴB9\1 5 Q:y\= `: = <9 \A \A ɩE 9m 8]m  m )= i i_u `q _y _y 9_y Y_y )} : 1 >Aggregate::uninitialize Default1 2 FAggregate::uninitialize Default:GPSq 2 Uninitialize. q 4 NAggregate::uninitialize Default:Iridium  5 Uninitialize.1 1 8 VAggregate::uninitialize Default:CallIridium 9 ZAggregate::uninitialize Default:CallIridium:B 9 Uninitialize.1  : DUninitialize GoToSurfaceComponent.= H $6kA:)Y=iH)EhIEhiEhEhICjjiCjtCnI$Cn*=iDnA?Dna n<)EU=):颵>HOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.ɐq-q)r5r5CPs5 <9s1)52>I9{U|U`iUD;)|Q]9 ]>)]>)ug= qԧ! @I gɅ $4? 5~C < ?)Hj?It?i?ɨ<Q9%Powering up %9))i-Q9Z-?)] V=)- 4=N V}>6kA:)E$IE$iE$E$IC&3iC&PC*A+C*,=iD*,B?D*ra * Ii{|PDi>;)|Q9iG C >Ʌ}>}^~C}= ?)r@I?i=ɨ<x?R>騕9 :)iQ9Z) :U X6kA)E IE$iE$E$IC&iC&軉C&C&+3=iD&B?D*a *II{ea|e#Zie7;)|im9uQ9iyC?>Ʌ>x~C配< \>)>IB?iɨ;; )iQ9ZᾼQ \=I9i[\δB9\y\ <\ \ ɩ  ]ʼ '= i_a`9_9_A9_AY_A)E;IMMɱMU9 U9)Qi]8Iu; ljj)k ki:)ppɪ 8 )8I8i88 Nɫ: k>)=) 9[ q6kA)E(IE(iE(E(IC*iC*C*C4C*,=iD.A?D.~a .< q6l! @I4il);)u:)Q:qqrrs <9sS{)*>I9{|#i>;)|ɮ鮵@:iGBC߆>Ʌ~C%< %=)-؇>I-?i-=ɨ-m<58 1)9i]Q9ZeS=Q eC=Ie9ia[i\môB9\imk:y\u5 u;q\\ɩ驝8]< = 9i_`__9_Y_): I 8 ɱ  Q9 )iI; l9jAjA)kA kAiA)pIIpIIɪQ骝Q9 8)Ii N1ɫ=k:9 =>) 0= q t9! @I ) :b #J6kA3@)E$IE$iE$E$IC&ciC&yBC&E"C*8=iD*A?D*a *;I={ԭ|Ui;)|Q9Q9i[G ؓC H>Ʌ > ~C  >) p!>I% G?i% |=ɨ% <- @ - @- 9 ) )1 i5 Q9Z= %Q = &=I= 9i= 8[A \E ʹB9\i m ;y\m J: m ;q \q \q ɩq } ]} ˻ } < } 9i_ ԭ` _ _ 9_ Y_ ) ;I ɱ 鱹 ) i ;I ; l j j )k k i )p 9p % ;ɪ) - 8 ) )5 I5 i9 9 9 NA ɫM :I U >) =h 㤍6kA ;)E,IE,iE,EPICR!iCROԻCR92CRZ(=iDRA?DVa V< ɬ i););)7:qqrrs9s)0>IQ9%HOpening uart, block timeout 10ths=20%*Querying output modes-ɅU0>U~CU< ]@-> q?! @I;)I0>iɨ5< cmdResponse: 01 $NQ1 output enabled= M9i_M`I_UeB ug:_u:A u99_}I?Y_}a)};Iɱ鱉 )i5}=)M V=)- [<n 6kA:)E$IE$iE$E$IC*KiC*5λC* &%C**=iD*A?D*a * QxYxYxYxY yY)yYIy]Aiyayayayaya za)zaIzaizazazizizi)Ʌ P> ~C <  ?) 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C. =iD.?D. b 2#< L)%; q;! @I;):iq q r rsV<9s)>>)-*;xxAxx y)yIyiyyyyy z)zIzizzzzzIm={u|u Mi}7:)|y}8yiG#CՁ>ɅC =) =I?i=ɨ%< @9 )iQ9Z_DQ <=I;i[ \ B9\  K;y\ xe:  ; 9\ \! ɩ% 9! ]% - = ) i_- `1 _1 _I 9_I Y_I )I IQ iQ Q Q U :ɦ] @ɳY Y ] > Y ɴY a Ia Ie ; l k j j )k k i ;)p 9p ɪ 骥 Q9 8) 8I i 8 N ɫ :)   >) < q o! @I :5 z66kA:)E$IE$iE$E$IC&6iC&C& C*4=iD*?D*b * <.> \)-;) :qeqareresa9sa)m*>ImQ9{|Vi>;)|Q99iGؓCH>Ʌp`>C酭; =)=I|=iɨ;iQ9 8)8iQ9ZSQ =I9i[\B9\;y\% %$<%9\!\)ɩ-9)]5< 5N= 59i_5`Y_Y_Y9_aY_a)e;Iiiiiim:ɦm@ɳmQ9u u> qɴu8qIqIu ; lkjj)k ki ;)p9pɪ8 )Ii Nɫ;8 k>)u6= q j־! @I ;)- :)U (< ̖6kA)E IE$iE$E$IC&oiC&;C& C&Z!=iD& ?D*b *<IQ{]|]gEi]:)|aai}&NAL9602 initialized}=iGn>)]<ɅeL>eC酝 = =)`=I=i==ɨ=騭8 )iQ9Zfw AɴAAIAIA lkjj)k ki<)p9pɪ骩 )8I8i8 Nɫ k:  >) <) =P) l6kA ;)E(IE(iE(E(IC*̣iC.CC.R C. =iD.?D.b .Ii{| 6i;)|  8 8iG%H>Ʌȋ>C酝< @=)`>I7?i@->ɨ<<騵9 )iQ9ZK Q9ɴII; lk j j )k  k)i5;)p11p99ɪ9A A)MIm;iqqy Nyɫ髁 >) < 16kA:)E$IE$iE$E$IC&9iC&V9C*C* =iD* ?D*b * <\ )%;)u= q! @I>;):q=sqArEsrEwsA9sE˖)E%>IM8{e|e Mie>;)|imQ9eiɅ]H>]Ce; e>)e=Im >imp!>ɨm ɴII; lkjj)k ki;)p  pɪ !)!I%8i-U8Q NYɫ]Q:a e>) 9) u<ƥ '6kA)E(IE,iE,E,IC.iC.躉C. C.=iD2I{%|-&i-;)|))ɮ5@5@i9)m5Ʌ>-C配|; @=)=I=i>ɨ<8 )iQ9Z  =Q 7=I 9i8[\B9\Q:y\!ٺ ;9\\ɩ驩]Y = i_`__9_Y_):I 8 l w:j j )k k i :)p) ) p1 1 ɪ1 = Q9 = 8)= 8IA iE 8y y N ɫ k:髉 >) <) < q VL! @I ;,6̥ 836kA)E$IE$iE$E$IC&EiC*U:C* C*(=iD*0?D*b * <FiDFlDefineArg homing_pursuit.WpCloseLat = 36.814100 arcdegNLRpDefineArg homing_pursuit.WpCloseLon = -121.827730 arcdegVTZhDefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg| Y)}w<)lDefineArg homing_pursuit.WpFarLon = -121.827730 arcdegi^DefineArg homing_pursuit.Altitude = 10.000000 mZDefineArg homing_pursuit.Speed = 1.000000 m/s fDefineArg homing_pursuit.MassDefault = 0.000000 n/ai=nDefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/aEAMlDefineArg homing_pursuit.NumberOfLaps = 0.000000 count}y\DefineArg homing_pursuit.MinRange = 0.250000 mIpDefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/ahDefineArg homing_pursuit.ApproachDepth = 10.000000 mɔpDefineArg homing_pursuit.ApproachTimeout = 30.000000 min5 1=rDefineArg homing_pursuit.TimeoutDuration = 180.000000 minEIAmhDefineArg homing_pursuit.WaitDuration = 1.000000 min}yfDefineArg homing_pursuit.kpAltitude = -0.080000 n/aɕdDefineArg homing_pursuit.kiAltitude = 0.000000 n/a dDefineArg homing_pursuit.kdAltitude = 0.000000 n/aI^DefineArg homing_pursuit.MaxDepth = 45.000000 m"6Construct AltitudeEnvelope. #0Construct DepthEnvelope.)[=qqrrcs9s):>IQ9{|;i7;)| 9#6Construct OffshoreEnvelope.- MiY}g *Construct Wait.ɅP>6C +Construct.  +&Construct Buoyancy.  = =) 5> ,5Construct.,MConstruct.I?i`=ɨ=鬱 騽: 8)i8ZQ A=)j= -Construct.I Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 0.25 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 180 Time allowed for actual pursuit homing. 1 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 -1 =M bRunning ./Missions/Engineering/Homing_pursuit.xmlɫU :) O=4ӥ L6kA)E4IE8iE8E8IC:7iC:sb >X< q)P=)-;qqrr}s9s)5>I{A| ei;)|!%Q9%8i-G5C=>ɅE>EJCE@-=iy )>I==i=ɨ< ;)] < )8i:Z:Q b=I9i[\B9\y\  <9 q ! @I ;\\ɩ<8]<< 0= i_A`_ _ 9_)Y_1)5;U1U>Aggregate::uninitialize Default1U2UFAggregate::uninitialize Default:GPSqU2UUninitialize.UqU4UNAggregate::uninitialize Default:Iridium] 5]Uninitialize.1]1]8]VAggregate::uninitialize Default:CallIridium]9]ZAggregate::uninitialize Default:CallIridium:B]9]Uninitialize.1] :]DUninitialize GoToSurfaceComponent.=e) N=P)٥ lf6kA:)EpIEpiEpEt9EHOpening uart, block timeout 10ths=20E$resume:Powering upEDCycling power to configure device.AIɐIIICviC] C]N C]o=iD]?D]b ].= ɬUO@)P=)> q0:! @I:)q=iqqrrCPs<9sS{)P>)t=x x x x y )y Iy iy y y y y ^A z )z Iz iz z z z z )] 9<)u /) e> :i G 3C >Ʌ > _C酽 < >) P)>I >i \=ɨ = C? > Q: Powering up  9) i Q9Z 8d [6kA33@:)>)=)EtIEtiEtExICzmiCz ͻCzCzWL=iDz?DzMb z< q!D! @I%;)u;i)]Q:qUvqQrUvr]Ks]<9sa)e*>IuQ9{| 6iG<)|Q9iG #C>Ʌ>dC|; O?)%?I%J?i%L=ɨ%) ,=)u : q= AD! @I= : x6kA)E$IE$iE(E(IC*iC*:C* C*n=iD*1?D*zb .< >>)];i)M7:qesqaresrewseUz<9se)e)>Ii{a|#Zi7;)|9iGQCF>ɅD>mC酩 p`>)|=I?i@l=ɨ;; 8)iQ9Zu)Q m=Ii[\B9\;y\% %<%9\!\)ɩ-9-]-q= 54= 1i_5a`Y_Y_a9_aY_a)e;Iiiɱiq q);iI; ljj)k ki:)p;p9ɪ8 )Ii Nɫ%k:% -o>) <) < q 1'! @I! )e :  6kA)E(IE(iE(E(IC.iC.ĘQC.cC.!=iD.?D.kb . < N>IZsIsIsIsI tI)tIItM AitItQtQttA u)uIuiuu?Auuu v)vIvivvvvv w)wIwiwwwww x)xIxixY{y{ qb v! @II-=)=:{E |Ei]iE7:)|I)Ʌ H> zC < m ?)u W?Iu F?iu >ɨu ) <h З6kA)E$IE$iE$E(IC*iC*X˰C*ݩC*%=iD*j?D*^b *< \)];iA)MQ:qe?Dqare?Dresa9sm˖)m)>ImQ9{إ|Ki>;)|9iGQC >ɅPh>C酭 L>)>I<.?iɨ;; )i8Z) <) <)e 9 HOpening uart, block timeout 10ths=20 *Querying output modes C* $=iD*R?D.Wb .<Z4cmdResponse: AUTO_VEL_ON ^@b: l颥}=) < q2! @I)E:iYq}+qyr}+r}˴s}W<9s}I)},>I8{K|GiD;)|iBC>Ʌ`%?C< ;?)n?Ihb?i>ɨ; 8)iQ9Z;Q J=I9i 8[ \9\15;y\=: =;=9\9\AɩAA]Ex; M= M9i_M)`q_u)B uf;_uA u:9_}?Y_}b)};Iɱ鱉 )Q9iI; ljj)k ki)pp9ɪ8 )I i119 NAɫE:e^; mx>)= ;)} =)] :( Q6kA)E$IE$iE(E(IC*wiC*C*% C* "=iD*?D* b .IQ)}0;{}|}#i};iy)|8iG3C3>Ʌ=p`>=C酝< >)X'?I?iɨ=<=騵9 )8i9ZY =Q @=Ii[\B9\k:y\Hn: ;9\9\9ɩ9E8]Ei M= M9i_M3`Q_UvB Uu;_UA U:9_]?Y_]b)];Im:iɱiq <)8iI>< ljj)k ki:)p9pQ9ɪ )Ii8 Nɫk:8 %>)=:) <)e : q% ꮰ! @I- :p 2w6kA)E$IE$iE$E$IC&4IiC*빉C*C*+=iD*?D*!b * < )e;)E:qeqarere}se<9se)m)>IuQ9{|8Ci;)|Q9iCi~>Ʌ>C  ?)v@IE?iiɨu<騥; 8)iy;ZHQ J=IQ;i[!\%B9\!!y\-; -;-9\)\)ɩ595]== == =9i_E⢽`A_EB Ec;_EA M:9_M?Y_MIb)M:Im8qɱqy }9)yiI; ljj)k ki0;)ppɪ 8)8I8i88 Nɫ >)=:) < q '! @I ;)e :  76kA)E(IE(iE(E(IC*iC*pC*zC*D=iD*?D.#b .< 9)];)M:qeqarereCPseUz<9se˖)aixaxixixmC yi)yiIymAiyiyiyiyiyq zq)zqIzqizqzqzqzqzqI<={w|li<)|8%8i-[G-BC5p~>Ʌ`%>ƈC|< X?)$? q%̍M! @I%>;)9ID?i =ɨ`=8 )iQ9ZQ 1=I9i[\B9\Q:y\ۺ ;9\\ɩ9 ] h<  =  ) } P6kA)E(IE(iE(E(IC*iC.}ӻC.Z4C.=iDB?DB%b Bo)m;)E:q/{qr/{rTs <9s)'>IQ9{إ|Ki:)|Q9iG|>Ʌ>׈C酵; f?i)$? qv! @I :Iut @)9i=ɨ==A E@E9 E8)I))];@AA q ! @I;)U:qqrrCPs1<9s)9>I8i{a|#ZiK;)|  iG%3C%~>Ʌ] 5>eCe< eP>)m>Im0p>im@l=ɨm>)9) D=)e :  6kA)E$IE$iE(E(IC*iC*ԻC*C*'=iD*?D.(b .<  qtL8! @I)]; NQ1i}!>}!>}ν} |0<|AR=|q-qr-rFs<9s)->I9)j<{| 6i;)|8iGȓCS}>iɅe>eCe< eXf?)m@?ImԈ?im?ɨu) < q% e! @I% ;8' xz6kA)E(IE(iE(E(IC*ӱiC*;C*C*S/=iD*{?D.@*b .ImQ9{u|uViu7:)|qqyiG3C3>Ʌ=C酕< >)U?I>i|=ɨ<%<%=%9 !)-8i-Q9Z5Q 5i=I59i9i1[Y\eB9\aay\e: e q l! @I ;)m *;( -  6kA)E$IE$iE(E(IC*iC*CѻC*C*_%=iD*A?D*+b *< )];)M9qeǨqareǨresm <9smS{)iIm8{=½|ni7;)|9Q9iGC?>Ʌx>C酭 &?)9@I @ip>ɨ;; )iQ9ZǼQ Q=Ii[\B9\%;y\%: %;%9\)\)ɩ))]5 5= 59i_=ŽiY`a_eOB e?;_mA9_m?Y_m'b)m;Iquɱ}鱙 9)i8I; ljj)k ki:)pp8ɪ )Ii9 NɫQ:髭8 q%o_"! @I! %>)9) ?=)e :3 И6kA)@)E$IE(iE(E(IC*!iC*RC*y C*%=iD*쏍?D*-b .< )];)E:qe?Dqare?DreseV<9se˖)aImQ9{}H|hQi:)|Q9Powering downɮ鮍 ))Iiɂ邕 )IiɃ郝 *;iCP>Ʌf?EC< ?)@I)@i9>ɨ;Q9 8) q ?p! @I :iQ9Ze)=:) O=) *<: @6kA)E$IE$iE$E(IC*DYiC*˻C*C*'=iD*돍?D*.b *I{|Si*;)|8iGؓC>Ʌ0>]C|; *?)m@I@i>ɨ; ; )i Q9Z pQ M=I 9i[\9\y\Ef|: E;E9\A\AɩII]Mv|< M= U9i_U`y_}B }N;_}A }:9_?Y_*b);Iɱ鱑 i)8iI,< ljj)k ki:)p9p:ɪ8 8)8I 8i  NɫQ:! %o>)=:) <=)e 9@ 6kA)E$IE$iE(E(IC*iC*9ۻC*C*(=iD*鏍?D* 0b *< q s ! @I : 1)u;qEQqArEQrM3sMV<9sM˖)M&>)e0;sysʂAssC t)tItittCttt u)uIuiuu=Auuu v)vOAIvivvvvv w)wIwiwwwww x)xIxixY{y{iu@ɐup{u =½|u niu :)|q q y i #C >Ʌ > rC酕 =< B?) 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